Process Simulate on

Teamcenter
Unpublished work. © 2024 Siemens

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ii Process Simulate on Teamcenter

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Table of Contents
Process Simulate on Teamcenter ..................................................................... 1-1

Introduction...................................................................................................... 2-1
What Is Process Simulate?............................................................................................. 2-1
Applications overview................................................................................................... 2-2
Assembler...................................................................................................................... 2-3
Human........................................................................................................................... 2-4
Event-based simulation................................................................................................. 2-6
Event-based simulation module.......................................................................................... 2-6
Unique abilities of Event-Based simulation.......................................................................... 2-8
Cyclic Event Evaluator - CEE................................................................................................ 2-9
Part appearances................................................................................................................ 2-9
Full station design on a single platform............................................................................. 2-10
Support for advanced robotic commands.......................................................................... 2-11
Material flow support....................................................................................................... 2-11
Using macros in event-based robotics............................................................................... 2-17
OPC simulation............................................................................................................ 2-21
SimulationUnit PNIO simulation..................................................................................2-22
Weld.............................................................................................................................2-23
Robotics....................................................................................................................... 2-24
Compound Kinematic Equipment............................................................................... 2-25
Teamcenter integration...............................................................................................2-28
Sending information to Process Simulate...........................................................................2-28
Defining simulations In-Context........................................................................................ 2-28
Monolithic JT files............................................................................................................. 2-28
Mapping locations between Process Simulate and Teamcenter.......................................... 2-29
Assignment propagation...................................................................................................2-31
Resource mapping............................................................................................................ 2-33
Compound kinematics...................................................................................................... 2-35
Edit custom operation descriptions................................................................................... 2-36
Right and left-handed transformations..............................................................................2-37
Time integration...............................................................................................................2-38
3D data............................................................................................................................ 2-39

Getting Started................................................................................................. 3-1

Update Process Simulate............................................................................................... 3-1
Launch Process Simulate............................................................................................... 3-7
Launch Process Simulate from MPP or from the desktop...................................................... 3-7
Launching Process Simulate from Teamcenter MPP..............................................................3-8
Launching Process Simulate from the desktop................................................................... 3-12
Launch Process Simulate on Teamcenter Standalone......................................................... 3-15
Process Simulate user interface.................................................................................. 3-17

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 Ribbon............................................................................................................................. 3-18
Graphic Viewer toolbar..................................................................................................... 3-22
Object toolbar.................................................................................................................. 3-81
NavigationSettings........................................................................................................... 3-82
True Shading.................................................................................................................... 3-88
Location display frames.................................................................................................... 3-89
Search.............................................................................................................................. 3-90
Status Bar......................................................................................................................... 3-92
Default keyboard shortcuts............................................................................................... 3-93
Getting up and running demos................................................................................... 3-94
Process Simulate on Teamcenter disconnected workflow................................................... 3-94
Teamcenter Manufacturing Access overview..................................................................... 3-94
Multi-user authoring demo............................................................................................... 3-94
Auto Save.....................................................................................................................3-94
Customize.................................................................................................................... 3-95
Customize the keyboard................................................................................................... 3-96
Customizing the mouse.................................................................................................... 3-99
Customize ribbon tabs.................................................................................................... 3-102
Customize Quick Access Toolbar......................................................................................3-104

File.................................................................................................................... 4-1
Recently used studies....................................................................................................4-1
Open in Standard Mode/Line Simulation Mode............................................................ 4-1
Save............................................................................................................................... 4-2
Study Manager.............................................................................................................. 4-2
Save as...........................................................................................................................4-3
Process Simulate Standalone........................................................................................ 4-3
Using Process Simulate Standalone to work locally.............................................................. 4-3
Save a copy of a study........................................................................................................ 4-4
Teamcenter Update....................................................................................................... 4-6
Import and Export......................................................................................................... 4-6
Convert and insert resource CAD files.................................................................................. 4-6
Convert CAD files to study parts........................................................................................ 4-12
Importing Mfgs................................................................................................................ 4-15
Export objects to JT.......................................................................................................... 4-20
Export to Excel................................................................................................................. 4-22
Export an image file..........................................................................................................4-23
Export 3D data to HTML format.........................................................................................4-24
Export data to PLMX format.............................................................................................. 4-26
Viewing PLMX Files...........................................................................................................4-27
Options dialog............................................................................................................. 4-29
Appearance Tab................................................................................................................4-29
Collision tab..................................................................................................................... 4-36
Continuous tab.................................................................................................................4-43
General tab...................................................................................................................... 4-45
Graphic Viewer tab........................................................................................................... 4-50
Motion tab....................................................................................................................... 4-53
Performance tab...............................................................................................................4-56

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 PLC tab............................................................................................................................. 4-59
Simulation tab................................................................................................................4-121
Teamcenter options........................................................................................................ 4-127
Units tab........................................................................................................................ 4-129
Weld tab.........................................................................................................................4-131
Exit.............................................................................................................................4-133

Home.................................................................................................................5-1
Welcome page............................................................................................................... 5-1
Working with viewers....................................................................................................5-2
.NetScriptViewer.................................................................................................................5-2
Collision detection.............................................................................................................. 5-7
Disassembly Viewer.......................................................................................................... 5-19
Graphic Viewer................................................................................................................. 5-22
Material Flow Viewer........................................................................................................ 5-32
Mfg Viewer.......................................................................................................................5-40
Modules Viewer................................................................................................................5-49
Sequence Editor............................................................................................................... 5-63
Signal Monitoring............................................................................................................. 5-90
Signal Viewer................................................................................................................... 5-95
Simulation Monitor.........................................................................................................5-117
Snapshot Editor.............................................................................................................. 5-120
Test Manager..................................................................................................................5-122
Transition Editor............................................................................................................. 5-124
Variant Viewer................................................................................................................5-127
Waypoint Viewer............................................................................................................ 5-132
Properties Viewer...................................................................................................... 5-140
Viewing and editing properties....................................................................................... 5-140
Access the Properties Viewer...........................................................................................5-141
Edit properties in the Properties Viewer...........................................................................5-143
Properties Customization................................................................................................ 5-143
Export to Excel............................................................................................................... 5-145
Relations Viewer........................................................................................................5-146
Robot Program Viewer...............................................................................................5-149
Access robot information in Robot Center................................................................ 5-149
Simulation panel....................................................................................................... 5-153
Path Editor................................................................................................................. 5-153
Path Editor columns........................................................................................................5-161
Skip locations................................................................................................................. 5-162
Running multiple Path Editors......................................................................................... 5-164
Edit multiple locations in the Path Editor......................................................................... 5-165
Modify customized motion for multiple items..................................................................5-166
Simulating Path Segments.............................................................................................. 5-170
Customizing the Path Editor............................................................................................5-171
Relation between Mfg attributes and robotic parameters of weld locations/seam
operations................................................................................................................. 5-174
Jump assigned robot.......................................................................................................5-174
Jump assigned object..................................................................................................... 5-175

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 Add columns to the Path Editor....................................................................................... 5-176
Edit OLP commands in the Path Editor.............................................................................5-178
Object Viewer............................................................................................................ 5-179
View selected objects..................................................................................................... 5-181
View objects operations or logical collections..................................................................5-182
Object Viewer Tools........................................................................................................ 5-183
Comparisons and subsets................................................................................................5-187
Robot Library............................................................................................................. 5-188
Paste.......................................................................................................................... 5-195
Cut............................................................................................................................. 5-196
Copy...........................................................................................................................5-196
Deleting objects........................................................................................................ 5-197
Renaming objects...................................................................................................... 5-197
Rename Objects tool.......................................................................................................5-197
Rule sets.........................................................................................................................5-215
Switch to Standard Mode/Line Simulation Mode...................................................... 5-219
Simulation recorder and playback.............................................................................5-220
Set Current Operation............................................................................................... 5-225
Add New Operation................................................................................................... 5-226
Operation Properties................................................................................................. 5-226
Add Operations to Path Editor...................................................................................5-226
Attach and detach components................................................................................ 5-227
Collision Mode On/Off............................................................................................... 5-230
Joint Jog.....................................................................................................................5-231
Robot Jog................................................................................................................... 5-232

View.................................................................................................................. 6-1
Simulation Panel........................................................................................................... 6-1
ArtiMinds....................................................................................................................... 6-7
Using the ArtiMinds Robot Programming Suite (RPS)........................................................... 6-7
Create an RPS robot operation...........................................................................................6-10
Define robots for ArtiMinds............................................................................................... 6-16
Define the RPS robot home pose....................................................................................... 6-21
Construct an RPS operation...............................................................................................6-23
Edit RPS robot operation................................................................................................... 6-29
Create building blocks using linked waypoints................................................................... 6-30
Create program with both Process Simulate and ArtiMinds RPS operations......................... 6-34
Download to robot........................................................................................................... 6-35
Upload from robot............................................................................................................ 6-37
ArtiMinds operation optimization......................................................................................6-37
Displaying viewers...................................................................................................... 6-45
Positioning viewer windows..............................................................................................6-45
Dock a viewer................................................................................................................... 6-45
Hide a viewer................................................................................................................... 6-47
Display as a floating viewer...............................................................................................6-47
Auto hide a viewer............................................................................................................6-48
Selecting objects in the viewers..................................................................................6-49

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 Blanking/Displaying objects........................................................................................ 6-49
Expanding and collapsing the tree..............................................................................6-50
Sorting and filtering.................................................................................................... 6-51
Viewer icons................................................................................................................ 6-53
Screen Layout.............................................................................................................. 6-54
Layout Manager............................................................................................................... 6-54
Manage Layouts............................................................................................................... 6-54
Apply Layout.................................................................................................................... 6-56
Export/Import Layout........................................................................................................6-57
Configure layout for multiple monitors.............................................................................. 6-59
Display Floor................................................................................................................ 6-61
Adjust Floor................................................................................................................. 6-63
Multiple Graphic Viewer commands........................................................................... 6-66
Orientation.................................................................................................................. 6-66
Graphics manipulation demo............................................................................................ 6-66
Parallel/Perspective........................................................................................................... 6-66
Pan.................................................................................................................................. 6-68
Zoom............................................................................................................................... 6-68
Rotate.............................................................................................................................. 6-69
Select............................................................................................................................... 6-69
Visibility.......................................................................................................................6-70
Restore Color............................................................................................................... 6-70
Stereo 3D viewing....................................................................................................... 6-71
Show locations/frames always on top......................................................................... 6-73
Sections....................................................................................................................... 6-73
Sections commands..........................................................................................................6-73
New Section Plane............................................................................................................ 6-81
New Section Volume........................................................................................................ 6-82
Section Manager.............................................................................................................. 6-83
New Section Viewer..........................................................................................................6-89
Contours.......................................................................................................................... 6-90
Dynamic Clipping........................................................................................................ 6-90
Camera........................................................................................................................ 6-92
Create Camera..................................................................................................................6-92
Open Camera Viewer........................................................................................................6-93
Align Camera with Current View....................................................................................... 6-94
Add Current View as Camera Location...............................................................................6-95
Display camera envelope.................................................................................................. 6-95
Camera settings................................................................................................................6-96
Using cameras in object flow operations......................................................................... 6-102
Attach camera to moving part.........................................................................................6-103
Process Simulate Virtual Reality................................................................................ 6-103
Process Simulate Virtual Reality.......................................................................................6-103
Valve Index Controllers................................................................................................... 6-106
Install Vive Focus 3......................................................................................................... 6-107
Hp Reverb G2 installation................................................................................................6-108
Using Process Simulate Virtual Reality............................................................................. 6-114
Customizing the controller menus...................................................................................6-123

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 Adding Notes in Virtual Reality........................................................................................6-124
Virtual Reality snapshots.................................................................................................6-137
Collaboration over VR..................................................................................................... 6-140
Export VR scene..............................................................................................................6-145
Live Hands in Motion Capture and Virtual Reality.............................................................6-146
VR Sequencer................................................................................................................. 6-159
VR object physics............................................................................................................ 6-173
Ergonomic feedback in Virtual Reality............................................................................. 6-174
Virtual Reality Configuration........................................................................................... 6-179
Customizing the virtual reality environment.................................................................... 6-186
Troubleshooting Virtual Reality collaboration connection problems................................. 6-188
Augmented reality.....................................................................................................6-189
Omniverse................................................................................................................. 6-189
Configure Omniverse...................................................................................................... 6-190
Launch Connector for Omniverse.................................................................................... 6-194

Modeling...........................................................................................................7-1
Set Modeling Scope.......................................................................................................7-1
End Modeling................................................................................................................ 7-3
Set Working Frame........................................................................................................ 7-6
Set Self Frame................................................................................................................7-7
Reload Component........................................................................................................ 7-9
Set/Replace JT.............................................................................................................. 7-10
To set a JT:........................................................................................................................7-11
To replace a JT:................................................................................................................. 7-11
Point cloud...................................................................................................................7-12
Insert point cloud............................................................................................................. 7-15
Relocate point cloud......................................................................................................... 7-17
Create point cloud layer.................................................................................................... 7-18
Attaching a point cloud to an object..................................................................................7-25
Detecting collisions with a point cloud.............................................................................. 7-26
Fast placement............................................................................................................ 7-33
Restore Position...........................................................................................................7-34
Alignment....................................................................................................................7-35
Aligning and distributing objects.......................................................................................7-36
Aligning XYZ.................................................................................................................... 7-37
Distributing XYZ............................................................................................................... 7-37
Duplicate Objects........................................................................................................ 7-38
Mirror Objects..............................................................................................................7-39
Create Frame............................................................................................................... 7-43
Create Frame options........................................................................................................7-44
Creating a frame by six values...........................................................................................7-44
Creating a frame by three points....................................................................................... 7-46
Creating a frame by circle center....................................................................................... 7-46
Creating a frame between two points............................................................................... 7-47
Create Solids................................................................................................................7-48
3D solids creation options.................................................................................................7-49

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 Creating Boxes..................................................................................................................7-50
Creating Cylinders............................................................................................................ 7-53
Creating Cones................................................................................................................. 7-56
Creating Spheres.............................................................................................................. 7-58
Creating Tori.....................................................................................................................7-61
Uniting solids................................................................................................................... 7-64
Subtracting solids............................................................................................................. 7-65
Intersecting solids.............................................................................................................7-67
Scale................................................................................................................................ 7-68
Scale object between points............................................................................................. 7-69
Extrude............................................................................................................................ 7-70
Revolute........................................................................................................................... 7-72
Sweep.............................................................................................................................. 7-73
Create Curves.............................................................................................................. 7-75
Creating polylines, curves and arcs....................................................................................7-75
Create polylines................................................................................................................ 7-76
Create circles.................................................................................................................... 7-78
Create curves................................................................................................................... 7-79
Create arcs....................................................................................................................... 7-80
Create fillets on a curve.....................................................................................................7-82
Create chamfers on a polyline........................................................................................... 7-84
Merge curves....................................................................................................................7-87
Split a curve..................................................................................................................... 7-88
Create curves along the border of a surface or solid...........................................................7-90
Creating curves at intersections of surfaces and solids.......................................................7-92
Project curves onto a surface or solid................................................................................ 7-94
Creating offset curves....................................................................................................... 7-96
Create a point.............................................................................................................. 7-98
Specify X, Y, and Z values to create a point........................................................................ 7-99
Create a point at center of circle......................................................................................7-100
Create a point between two points..................................................................................7-102
Create a block............................................................................................................ 7-104
Create 2D Outline...................................................................................................... 7-105
Create Dashed Curves from Edges............................................................................ 7-108
Create isoparametric curves......................................................................................7-113
Entity Level................................................................................................................ 7-118
Set as preserved objects............................................................................................7-121
Set as unpreserved objects....................................................................................... 7-121
Explode geometries...................................................................................................7-122
Viewing End Items.....................................................................................................7-123
Kinematics Editor...................................................................................................... 7-125
Defining kinematics........................................................................................................ 7-131
Create links.................................................................................................................... 7-131
Create joints................................................................................................................... 7-135
Create slot joints.............................................................................................................7-140
Create cranks..................................................................................................................7-148
Add baseframes..............................................................................................................7-162
Add toolframes...............................................................................................................7-162

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 Defining joint functions.................................................................................................. 7-163
Pose Editor.................................................................................................................7-170
Mark Pose.................................................................................................................. 7-173
Tool Definition........................................................................................................... 7-174
Set Gripped Objects List............................................................................................ 7-177
Set physical properties of objects............................................................................. 7-180
Convex decomposition.............................................................................................. 7-182
Notes......................................................................................................................... 7-185
Adding notes to engineering data................................................................................... 7-186
Toggling note visibility.................................................................................................... 7-186
Create notes................................................................................................................... 7-187
Edit notes....................................................................................................................... 7-188
Object notes................................................................................................................... 7-189
Customizing notes.......................................................................................................... 7-190
Changing the customization for existing object notes......................................................7-194
Location notes................................................................................................................7-195
Automatic note flag placement....................................................................................... 7-196
Optimizing note flag placement...................................................................................... 7-197
Create Dimension...................................................................................................... 7-200
For example, to create a point to point dimension:.......................................................... 7-202
To Configure Dimension Color......................................................................................... 7-204
Normal to Curve Distance............................................................................................... 7-205
Cables........................................................................................................................ 7-207
Generating and editing cables........................................................................................ 7-207
Cable Settings................................................................................................................ 7-226
Regenerate Cable........................................................................................................... 7-230
Create cable inside compound equipment.......................................................................7-231
PMI.............................................................................................................................7-233

Server................................................................................................................8-1
Attach File......................................................................................................................8-1
Teamcenter Update....................................................................................................... 8-4
Viewing Verified Time in Teamcenter........................................................................... 8-7
New Object.................................................................................................................... 8-9
Check In and Check Out...............................................................................................8-12
To check out items:...........................................................................................................8-13
To check in items:............................................................................................................. 8-15
Assign Data from Teamcenter..................................................................................... 8-15
Mfg Search.................................................................................................................. 8-25
Replace Resource.........................................................................................................8-26
Resource Search.......................................................................................................... 8-28
Add resource to disconnected study demo........................................................................ 8-29
Resource Search demo......................................................................................................8-29
Reload Selected Resource to Disconnected Study.......................................................8-29
Reload Product to Disconnected Study....................................................................... 8-30

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 Robot.................................................................................................................9-1
Tools for robotic tasks....................................................................................................9-2
Home............................................................................................................................. 9-2
Joint Jog.........................................................................................................................9-2
Limit Joint Motion......................................................................................................... 9-6
Mount Tool.................................................................................................................... 9-7
Indicate Joint Working Limits........................................................................................ 9-9
UnMount Tool.............................................................................................................. 9-10
Robot Jog..................................................................................................................... 9-11
Reach Test....................................................................................................................9-26
Jump to Location......................................................................................................... 9-28
Jump Assigned Robot.................................................................................................. 9-29
Smart Place..................................................................................................................9-29
Accessing the Robot Viewer........................................................................................ 9-35
Configuring global settings for the Robot Viewer............................................................... 9-37
Using the toolbar..............................................................................................................9-38
Monitoring robot joint values during simulation................................................................ 9-39
Joint Status...................................................................................................................... 9-41
Digital Signals...................................................................................................................9-44
Analog Signals..................................................................................................................9-45
TCPF Speed.......................................................................................................................9-48
Joint Speed and Acceleration............................................................................................ 9-49
Power Consumption......................................................................................................... 9-51
Move to Location......................................................................................................... 9-53
Play from this location.................................................................................................9-54
Play selected location from current robot................................................................... 9-54
Teach Pendant............................................................................................................. 9-55
Define robotic location attributes...................................................................................... 9-56
Setting motion parameters when defining robotic location attributes.................................9-59
Setting process parameters when defining robotic location attributes................................ 9-61
Using OLP commands when defining robotic location attributes........................................ 9-63
OLP commands for the default controller.......................................................................... 9-66
To add OLP commands from a text file...............................................................................9-77
Set Robots for Auto Teach........................................................................................... 9-78
Clear Teach Location....................................................................................................9-79
Visible Shell On/Off......................................................................................................9-80
OLP Tools..................................................................................................................... 9-80
Define Gun Main Joint...................................................................................................... 9-80
Delete Robotic Parameters................................................................................................ 9-81
Delete robot system frames.............................................................................................. 9-81
Mark Current Rail Value.................................................................................................... 9-81
Rail Jog with Locked TCPF................................................................................................. 9-82
Replace External............................................................................................................... 9-83
Robotic Parameters Viewer............................................................................................... 9-84
Robot Parameter Editor..................................................................................................... 9-86
Set Gantry Positions..........................................................................................................9-89
Shift Locations by TCP Offset............................................................................................. 9-91

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 Shift Rail Value................................................................................................................. 9-92
Smooth Circular Motions.................................................................................................. 9-93
Smooth External............................................................................................................... 9-93
Smooth Rail...................................................................................................................... 9-95
External axes creation mode....................................................................................... 9-96
Set External axes values..............................................................................................9-96
Robotic operation merge.............................................................................................9-98
Merge robotic operations..................................................................................................9-99
Configure Robotic Operation Merge settings....................................................................9-105
Robotic Operation Merge log file..................................................................................... 9-107
Safety robots............................................................................................................. 9-108
General.......................................................................................................................... 9-109
Safety robots documentation.......................................................................................... 9-110
Import / Export............................................................................................................... 9-113
Fixed stops..................................................................................................................... 9-115
Adjustment reference position........................................................................................ 9-116
Robot types.................................................................................................................... 9-117
Detect robot safety breach automatically.........................................................................9-118
Detect robot safety breach using a sensor....................................................................... 9-121
ABB................................................................................................................................ 9-125
KUKA..............................................................................................................................9-140
FANUC........................................................................................................................... 9-160
COMAU RoboSafe 3 1..................................................................................................... 9-177
Yaskawa......................................................................................................................... 9-189
Robot program viewer...............................................................................................9-205
Run robot program viewer.............................................................................................. 9-210
Robotic program inventory....................................................................................... 9-221
Open a Program in the Path Editor.................................................................................. 9-223
Setting a program as the default program....................................................................... 9-223
Delete a program............................................................................................................9-224
Editing a Robotic Program...............................................................................................9-224
Upload program........................................................................................................ 9-225
Upload Robcad robotic program................................................................................9-228
Download to Robot....................................................................................................9-231
New Robotic Program................................................................................................ 9-235
Create Robotic Program for Compound Operation................................................... 9-236
Create Scheduler Operation...................................................................................... 9-237
Display Robot Properties........................................................................................... 9-237
Select a robot controller..................................................................................................9-240
Define a new external axis.............................................................................................. 9-241
View conveyor tracking signals....................................................................................... 9-243
RRS customization..................................................................................................... 9-245
Controller settings.....................................................................................................9-247
Robot setup............................................................................................................... 9-250
Robot Configuration.................................................................................................. 9-251
Set Robot User Inverse.............................................................................................. 9-253
Robot toolbox............................................................................................................ 9-253

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 Open the Robot Toolbox................................................................................................. 9-254
Add a tool to the Robot Toolbox...................................................................................... 9-255
Edit a tool in the toolbox.................................................................................................9-257
Remove a tool from the toolbox...................................................................................... 9-258
Mount a tool in the toolbox............................................................................................ 9-258
Unmount a tool in the toolbox........................................................................................ 9-259
Reset RCS Module......................................................................................................9-259
Customized Command XML Checker........................................................................ 9-259
Calibration................................................................................................................. 9-261
Open machine data folder.........................................................................................9-267
Automatic Interference............................................................................................. 9-268
Create automatic interference volumes........................................................................... 9-269
Query interference volume............................................................................................. 9-273
Configuring your system for Automatic Interference........................................................ 9-275
Interference volume..................................................................................................9-278
Create interference volumes........................................................................................... 9-279
Dummy Interference Volumes.........................................................................................9-281
Swept Volume........................................................................................................... 9-283
Cycle time report....................................................................................................... 9-283
Generate a cycle time report........................................................................................... 9-283
Configure cycle time report settings................................................................................ 9-286
TCP Tracker................................................................................................................ 9-288
Run the TCP Tracker........................................................................................................ 9-295
Defining guns for mounted workpiece operations........................................................... 9-295
Realtime Robotics...................................................................................................... 9-297
Export data to Realtime Robotics.....................................................................................9-298
Configure Realtime Robotics settings...............................................................................9-299
Playing the Realtime Robotics simulation.........................................................................9-302
Realtime Robotics recorder............................................................................................. 9-304

Operation........................................................................................................10-1
Set Current Operation................................................................................................. 10-1
New operation commands.......................................................................................... 10-1
New Compound Operation............................................................................................... 10-1
New Non-Sim Operation................................................................................................... 10-2
New Object Flow Operation.............................................................................................. 10-4
New Device Operation...................................................................................................... 10-7
New Gripper Operation.....................................................................................................10-9
New Weld Operation...................................................................................................... 10-12
New Continuous Feature Operation................................................................................ 10-16
New Pick and Place Operation.........................................................................................10-20
New Generic Robotic Operation...................................................................................... 10-24
New/Edit Concurrent Robotic Operation.......................................................................... 10-25
New Robotic Program..................................................................................................... 10-32
Create Posture Operation................................................................................................10-33
Continuous Process Generator........................................................................................ 10-34
Operation Properties................................................................................................. 10-37

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 Add Operations to Path Editor...................................................................................10-47
Path Editing............................................................................................................... 10-47
Add Location Before....................................................................................................... 10-47
Add Location After..........................................................................................................10-48
Add Current Location......................................................................................................10-49
Add Location / Multiple Locations by Pick........................................................................ 10-50
Add Location Interactively...............................................................................................10-52
Manipulate Location....................................................................................................... 10-52
Interpolate Locations Orientation....................................................................................10-53
Copy Location Orientation.............................................................................................. 10-55
Align Locations...............................................................................................................10-56
Reverse Operation.......................................................................................................... 10-57
Shift Location Back......................................................................................................... 10-60
Shift Location Forward................................................................................................... 10-60
Flip Locations................................................................................................................. 10-60
Mirror.............................................................................................................................10-63
Copying and Moving Locations....................................................................................... 10-77
Robotic Automatic Path Planner................................................................................10-80
Run Robotic Automatic Path Planner............................................................................... 10-80
Robotic Automatic Path Planner parameters.................................................................... 10-85
Assembly Automatic Path Planner............................................................................ 10-97
Run Assembly Automatic Path Planner............................................................................ 10-98
Assembly Automatic Path Planner Settings.................................................................... 10-113
Swept Volume......................................................................................................... 10-116
Object and Robot Swept Volumes................................................................................. 10-116
Create Object Swept Volume.........................................................................................10-117
Create a Swept Volume object.......................................................................................10-119
Delete a robot Swept Volume Object............................................................................. 10-123
Interference volume................................................................................................10-123
Create interference volumes......................................................................................... 10-123
Dummy Interference Volumes.......................................................................................10-126
Apply Path Template............................................................................................... 10-127
To apply a path template to operations:........................................................................ 10-128
To apply a path template to components:......................................................................10-130
Set Template and Keywords.................................................................................... 10-136
Edit Event................................................................................................................ 10-138
Simulation Events....................................................................................................10-141
Adding Simulation Events to Operations....................................................................... 10-141
Add an Attach or Detach Event......................................................................................10-143
Add a display event.......................................................................................................10-145
Add a blank event.........................................................................................................10-146
Add and configure activate collision sets events.............................................................10-147
Add and configure deactivate collision sets events.........................................................10-149
Add a view point event................................................................................................. 10-150
Add an emphasize event............................................................................................... 10-151
Add a de-emphasize event............................................................................................ 10-152
Add a snapshot event................................................................................................... 10-153
Add a signal event........................................................................................................ 10-154

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 Create an add group event............................................................................................10-155
Adding Activate Collision Sets Events............................................................................ 10-156
Adding Deactivate Collision Sets Events.........................................................................10-158
Remove an event from a group..................................................................................... 10-160
Create an opposite event.............................................................................................. 10-160
Add a pause event........................................................................................................ 10-161
Delete a pause event.................................................................................................... 10-162
Activate or deactivate a single pause event................................................................... 10-162
Add an attach event......................................................................................................10-162
Activate or deactivate all pause events.......................................................................... 10-163
Event execution during different simulation types......................................................... 10-163
Movie Recorder........................................................................................................10-164
To run the movie recorder:............................................................................................10-164
To view a movie:...........................................................................................................10-175
To delete a movie:........................................................................................................ 10-175
Markup Editor.......................................................................................................... 10-175

Process............................................................................................................ 11-1
Mfg Search.................................................................................................................. 11-2
Multiple Part Appearance............................................................................................11-2
To configure Multiple Part Appearances:............................................................................11-3
Geometric Gun Search...............................................................................................11-10
Assign Weld Points.................................................................................................... 11-22
Automatic Part Assignment.......................................................................................11-24
Project Weld Points....................................................................................................11-27
Create Weld Point by Coordinates............................................................................. 11-33
Create Weld Point By Pick.......................................................................................... 11-35
Create Weld Point on TCPF........................................................................................ 11-37
Duplicate Weld Operation......................................................................................... 11-38
Obtain Weld Point Orientation.................................................................................. 11-45
Update Weld Locations Projection.............................................................................11-45
Multi Sections Viewer................................................................................................11-48
Create a section..............................................................................................................11-48
Multi Section Settings..................................................................................................... 11-56
Automatic Approach Angle....................................................................................... 11-57
Pie Chart.................................................................................................................... 11-64
Gun Cloud.................................................................................................................. 11-69
Weld Distribution Center........................................................................................... 11-71
Weld Distribution Center - Mounted Workpieces.............................................................. 11-74
Weld Distribution Center - Main Window......................................................................... 11-75
Weld Distribution Center in Standalone Mode................................................................. 11-79
Use the Weld Distribution Center.................................................................................... 11-80
Configure Weld Distribution Center settings.................................................................... 11-85
Configure the Weld Distribution Center attribute list........................................................ 11-88
Export the information in the Weld Distribution Center to an Excel worksheet..................11-89
Weld Quality Report.................................................................................................. 11-89
Using the Weld Quality Report........................................................................................ 11-90

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 Filter the Weld Quality Report......................................................................................... 11-97
Export the Weld Quality Report to Excel........................................................................ 11-100
Convert to Via Location........................................................................................... 11-101
Convert to Weld Location........................................................................................ 11-101
Adjust Location Orientations to Full Reach............................................................. 11-102
Torch Alignment...................................................................................................... 11-102
Project Arc Seam......................................................................................................11-106
Arc Continuous Positioning..................................................................................... 11-121
Smart tool position.................................................................................................. 11-123
Smart Disassembly.................................................................................................. 11-127
Automatic Generation of Collision-Free Disassembly Sequences.................................... 11-127
Shortest Path Generation..............................................................................................11-129
Set Disassembly Dynamic Root...................................................................................... 11-132
Define Explode Directions............................................................................................. 11-132
Smart Disassembly....................................................................................................... 11-135
Continuous Process Generator................................................................................ 11-138
Generating a Continuous Arc Process............................................................................ 11-141
Generating a Continuous Coverage Pattern Process....................................................... 11-153
Generating an Adhesive Process....................................................................................11-165
Continuous Process Generator - Finalizing..................................................................... 11-172
Project Continuous Mfg...........................................................................................11-174
Replicate Seam Operation....................................................................................... 11-183
Replicate an arc seam operation....................................................................................11-183
Replicate a continuous seam operation......................................................................... 11-187
Create Continuous Mfgs from Curve....................................................................... 11-193
Split Seam Operation...............................................................................................11-195
Update Continuous Mfgs.........................................................................................11-197
Emphasize Continuous Mfgs................................................................................... 11-199
Indicate Seam Start................................................................................................. 11-201
Insert Location Inside a Seam................................................................................. 11-203
Import CLS files from CAM...................................................................................... 11-208
CLS Upload Parameters................................................................................................. 11-211
Attach Seam Locations to Part................................................................................ 11-213
Create Seam From Vias............................................................................................11-213
Paint during simulation........................................................................................... 11-214
To create a mesh:......................................................................................................... 11-217
To configure paint coverage settings:............................................................................ 11-219
To configure paint thickness settings:............................................................................ 11-222
To create and edit paint brushes:.................................................................................. 11-226
Create Paint Trigger...................................................................................................... 11-228
Edit Paint Trigger.......................................................................................................... 11-231
Paint Thickness............................................................................................................. 11-232
Macros to Simulate Continuous Processes.............................................................. 11-240
Create Macro................................................................................................................ 11-240
Edit Macro.................................................................................................................... 11-245
Display Macros............................................................................................................. 11-249

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 Control............................................................................................................ 12-1
Logic Behavior............................................................................................................. 12-1
SCL Editor.........................................................................................................................12-1
SCL function reference....................................................................................................12-19
SCL examples............................................................................................................... 12-116
Logic Resources............................................................................................................ 12-122
Logic Behavior Commands............................................................................................12-128
Edit Logic Resource.......................................................................................................12-128
Create Logic Resource...................................................................................................12-130
Add Logic to Resource...................................................................................................12-169
Copy LB Logic............................................................................................................... 12-169
Create LB Pose Action and Sensors................................................................................ 12-174
Export LB(s) to Excel..................................................................................................... 12-175
Connect Signals to Logic Resources............................................................................... 12-176
Replace and Connect Device......................................................................................... 12-193
Sensors.................................................................................................................... 12-195
Working with Sensors................................................................................................... 12-195
Create Joint Distance Sensor......................................................................................... 12-197
Create Joint Value Sensor..............................................................................................12-198
Create Proximity Sensor................................................................................................ 12-200
Create Photoelectric Sensor.......................................................................................... 12-203
Create Property Sensor................................................................................................. 12-207
Create LiDAR sensor......................................................................................................12-209
Import fields and cases for LiDAR sensor........................................................................ 12-213
Activate Sensor.............................................................................................................12-216
Deactivate Sensor......................................................................................................... 12-217
Edit Sensor Properties................................................................................................... 12-217
Create Property Projector.............................................................................................. 12-224
Edit a Property Projector............................................................................................... 12-225
Edit Part Simulation Property List.................................................................................. 12-227
Display Sensor Detection Zone...................................................................................... 12-228
Hide Sensor Detection Zone..........................................................................................12-229
Conveyors................................................................................................................ 12-229
Conveyors - Introduction...............................................................................................12-229
Define Conveyor........................................................................................................... 12-230
Add Conveyor Control Points.........................................................................................12-237
Edit Conceptual Conveyor............................................................................................. 12-245
Define as Conceptual Skid............................................................................................. 12-246
Edit Conceptual Skid..................................................................................................... 12-247
Define Conveyable Part................................................................................................. 12-248
Edit Conveyor Logic Behavior........................................................................................ 12-248
Drive Conveyor............................................................................................................. 12-249
Drive conveyor with SCL Editor......................................................................................12-253
Connection Mapping............................................................................................... 12-257
Perform connection mapping........................................................................................12-257
Connection Mapping Source File...................................................................................12-259
Connection Mapping Report......................................................................................... 12-261
Signal Mapping....................................................................................................... 12-263

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 Signal Mapping Tool..................................................................................................... 12-263
Run the Signal Mapping Tool.........................................................................................12-264
Signal Mapping Tool warnings and errors...................................................................... 12-267
Format of the Signal Mapping File.................................................................................12-268
Import Signals......................................................................................................... 12-271
To import signals:......................................................................................................... 12-273
Extract Signal List from S7 Program........................................................................ 12-280
External Mapping Tool............................................................................................ 12-281
Rename by Resource............................................................................................... 12-285
Signal Monitoring....................................................................................................12-286
Operation Start Condition....................................................................................... 12-291
Robot Modules.........................................................................................................12-291
Run parallel robot tasks...........................................................................................12-293
Robot Signals...........................................................................................................12-295
Connect between PLC and OLP Signals in Robots........................................................... 12-295
Create a Program Pause Signal...................................................................................... 12-299
Create a full set of default robot signals.........................................................................12-299
Import and export Robot Signals................................................................................... 12-301
Robot Signals Copy Paste........................................................................................ 12-307
Create Robot Operation Start Signals......................................................................12-308
Signal Generation....................................................................................................12-309
Creating Signals, Sensors and Operations .....................................................................12-309
Create Device Start Signals............................................................................................12-310
Create All Flow Start Signals..........................................................................................12-311
Create Non-Sim Start Signals.........................................................................................12-311
Create Device Operations/Signals.................................................................................. 12-312
Generate Appearances............................................................................................ 12-318
Substituting Instances.............................................................................................12-319
Automated Guided Vehicles.................................................................................... 12-320
Simulating Automated Guided Vehicles.........................................................................12-320
Create AGV................................................................................................................... 12-321
Create AGV target......................................................................................................... 12-323
Create AGV carpet........................................................................................................ 12-325
Drive AGV.....................................................................................................................12-326
AGV advanced functionality.......................................................................................... 12-331

Human............................................................................................................ 13-1
Human Introduction.................................................................................................... 13-1
Human Posturing.........................................................................................................13-1
Human Postures............................................................................................................... 13-2
Performing Human Posturing............................................................................................13-3
Man Jog......................................................................................................................... 13-49
Positioning..................................................................................................................... 13-52
Snap human to floor.......................................................................................................13-54
Mirroring Arms............................................................................................................... 13-54
Create Human Model................................................................................................ 13-56
Create a human model................................................................................................... 13-56

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 Insert a default human model.........................................................................................13-63
Create legacy human model........................................................................................... 13-64
Create Hands............................................................................................................. 13-66
Human Options dialog box........................................................................................13-69
Colors tab.......................................................................................................................13-69
General tab.................................................................................................................... 13-71
Human Model tab...........................................................................................................13-73
Libraries tab................................................................................................................... 13-75
Report Viewer tab...........................................................................................................13-77
Reports tab.....................................................................................................................13-79
Simulations tab.............................................................................................................. 13-81
Human Properties......................................................................................................13-83
Modifying Properties of the Human Model ..................................................................... 13-83
Change the Properties of a Human Model....................................................................... 13-84
Modify Human Model from .fig File................................................................................. 13-89
Modify the model by configuring the parameters in the dialog box.................................. 13-90
Clone a model using the anthropometric data from the original model............................ 13-90
Human ruler.............................................................................................................. 13-90
Default Posture..........................................................................................................13-95
Save Current Posture................................................................................................. 13-95
Auto Grasp.................................................................................................................13-95
Grasp Wizard............................................................................................................. 13-99
Grasp functionality.................................................................................................. 13-108
Reach Target............................................................................................................ 13-111
Human Copy............................................................................................................ 13-116
Setting CP Frames for effectors............................................................................... 13-119
Task Simulation Builder........................................................................................... 13-122
Accessing the Task Simulation Builder........................................................................... 13-125
Create a Go task........................................................................................................... 13-130
Create a Get task.......................................................................................................... 13-138
Create a Put task...........................................................................................................13-154
Create a Position task....................................................................................................13-164
Create a Pose task.........................................................................................................13-173
Link a video to a pose task............................................................................................ 13-180
Split a video task.......................................................................................................... 13-181
Create a Regrasp task....................................................................................................13-188
Create a Wait task......................................................................................................... 13-192
Switch between sitting and standing............................................................................ 13-194
Create a Touch task.......................................................................................................13-195
Create an Apply Force task............................................................................................ 13-202
Task Simulation Builder Object Tasks............................................................................. 13-207
Use device....................................................................................................................13-221
Editing simulations....................................................................................................... 13-234
Task Simulation Builder Settings....................................................................................13-234
Task Simulation Builder Reports.................................................................................... 13-247
Utilizing the TSB Motion Library.................................................................................... 13-272
Create Posture Operation........................................................................................ 13-280
Place Object............................................................................................................. 13-281

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 Walk Creator............................................................................................................ 13-285
Walking the Human Model............................................................................................13-285
Create a walk operation................................................................................................ 13-285
Path Creator................................................................................................................. 13-290
Create Elevation Transition..................................................................................... 13-292
Vision Window.........................................................................................................13-296
Grasp and Vision Envelopes.................................................................................... 13-297
Create Human Swept Volumes................................................................................ 13-302
Work zones.............................................................................................................. 13-304
Ergonomic analysis tools.........................................................................................13-311
Run ergonomic analysis................................................................................................ 13-314
Posture monitor............................................................................................................13-318
RULA Analysis...............................................................................................................13-321
OWAS Analysis..............................................................................................................13-326
Static Strength Prediction Analysis................................................................................ 13-331
Force solver.................................................................................................................. 13-336
Arm Strength Evaluation (Arm Force Field)....................................................................13-340
Low Back Analysis.........................................................................................................13-346
NIOSH Analysis............................................................................................................. 13-351
Cumulative Back Load (CBL)..........................................................................................13-359
Fatigue Report..............................................................................................................13-363
Energy Expenditure...................................................................................................... 13-365
Run EAWS report.......................................................................................................... 13-370
Generate time reports...................................................................................................13-387
Report Viewer...............................................................................................................13-388
Motion Capture........................................................................................................13-390
Tracking and capturing of human motion......................................................................13-390
Prerequisites for body motion tracking.......................................................................... 13-391
Run Motion Capture......................................................................................................13-397
Using the CyberGlove System....................................................................................... 13-414
Kinect Motion Sensor....................................................................................................13-415
Motion Capture Player.................................................................................................. 13-423
Marker Mapping for the Motion Capture Player..............................................................13-427
Posture Recorder.......................................................................................................... 13-434
Follow the Leader......................................................................................................... 13-436
Motion Capure in Virtual Reality....................................................................................13-440
Set Active Model......................................................................................................13-456
Human Events......................................................................................................... 13-457
Adding Human Events.................................................................................................. 13-458
Grasp Events................................................................................................................ 13-458
Configuring loads and weights for a human event......................................................... 13-462
Anthropometric Databases..................................................................................... 13-470
Time assessment..................................................................................................... 13-471
Human operation times................................................................................................ 13-471
Calculate Operation Durations...................................................................................... 13-471
Verify Time Assessment................................................................................................ 13-471
Additional human commands (not on the ribbon)..................................................13-472
Human commands not on the ribbon............................................................................13-473

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 Human Joint Sets..........................................................................................................13-473
Jack Collaboration........................................................................................................ 13-478
Release Object..............................................................................................................13-481
Assign human models.................................................................................................. 13-481

Additional commands (not on the ribbons)....................................................14-1

More commands..........................................................................................................14-1
Add NX human............................................................................................................ 14-1
Connect to robot..........................................................................................................14-1
To establish communication with UV robots:..................................................................... 14-3
To connect to a robot:.......................................................................................................14-4
Create 3D Documentation........................................................................................... 14-7
Create human start signals....................................................................................... 14-12
Create robot with two or more arms......................................................................... 14-14
Device control group................................................................................................. 14-18
Control groups of resource devices..................................................................................14-19
Create Device Group ...................................................................................................... 14-20
Copy Device Control Group Logic.................................................................................... 14-20
Add to Group..................................................................................................................14-25
Remove from Group....................................................................................................... 14-26
Ungroup Devices............................................................................................................ 14-26
Edit Pose Groups.............................................................................................................14-27
Dynamic reach advisor.............................................................................................. 14-31
End Items...................................................................................................................14-33
Export Symbols..........................................................................................................14-33
Export symbols from Process Simulate Commissioning to an XML file...............................14-33
View XML Files in table format........................................................................................ 14-34
Rules for Modifying and Importing XML Files...................................................................14-35
Modifying ID Information................................................................................................14-35
Modifying Symbol Type Information................................................................................14-36
Modifying Address Information....................................................................................... 14-36
Fast Collision Set....................................................................................................... 14-36
Group.........................................................................................................................14-36
Grouping into single entity............................................................................................. 14-36
Create Group.................................................................................................................. 14-37
Flatten Hierarchy............................................................................................................ 14-39
Replace Compounds with Groups....................................................................................14-39
Export groups to Excel.................................................................................................... 14-40
Import kinematics from NX - compound equipment................................................ 14-41
Import projection information from NX.................................................................... 14-42
Import Symbols......................................................................................................... 14-43
Insert Seam Location After........................................................................................14-44
Legacy Automatic Path Planner.................................................................................14-45
Run Legacy Automatic Path Planner................................................................................ 14-46
Legacy Automatic Path Planner Settings.......................................................................... 14-65
Logical Collections Tree............................................................................................. 14-68
Logical Collections Tree Viewer....................................................................................... 14-68

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 Editing occurrence groups in the Logical Collections Tree................................................ 14-73
Add occurrence group.................................................................................................... 14-74
Rename occurrence group.............................................................................................. 14-75
Move occurrence group.................................................................................................. 14-75
Share occurrence group.................................................................................................. 14-77
Disconnect occurrence group..........................................................................................14-77
Move, share, disconnect parts in the Logical Collections Tree...........................................14-78
Object Tree................................................................................................................ 14-79
Working with the Object Tree..........................................................................................14-79
Filtering the Object Tree..................................................................................................14-83
Customizing the Object Tree........................................................................................... 14-85
Changing the valve type assigned to a resource...............................................................14-87
Moving resources........................................................................................................... 14-88
Resource folders and part folders in the Object Tree........................................................ 14-89
Frames hierarchy in the Object Tree................................................................................ 14-90
Operation Tree...........................................................................................................14-91
Load in Standard Mode/Line Simulation Mode......................................................... 14-96
Managing Simulation Movies....................................................................................14-97
Movie Manager.............................................................................................................. 14-97
Use Movie Manager........................................................................................................ 14-97
View and delete movies................................................................................................ 14-103
Mfg Attribute Editor................................................................................................ 14-104
Move location to TCPF............................................................................................. 14-106
My next command...................................................................................................14-106
Process Type for Continuous Mfgs.......................................................................... 14-108
Retrieve Selection....................................................................................................14-109
Robot Tracking Viewer.............................................................................................14-109
Save Selection......................................................................................................... 14-113
Select Frames of Tasks.............................................................................................14-114
Stop Envelope..........................................................................................................14-114
Tracking Objects on Conveyors............................................................................... 14-118
Tecnomatix VRC servers.......................................................................................... 14-121
Tecnomatix ABB VRC Manager...................................................................................... 14-121
Tecnomatix VRC Server ABB Real Time...........................................................................14-128
Tecnomatix VRC Server Fanuc....................................................................................... 14-142
Tecnomatix VRC Server Kuka Real Time......................................................................... 14-156
Tecnomatix VRC Server Universal Robots Real Time....................................................... 14-164
Update Robot Joint Limits from Machine Data........................................................14-172
Zone interference for locations...............................................................................14-174
Zone Preview................................................................................................................14-174
Generate and display location spheres.......................................................................... 14-174

Using Process Simulate VC Lite....................................................................... 15-1

Teamcenter Share........................................................................................... 16-1

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1. Process Simulate on Teamcenter
What Is Process Simulate?
Topics of interest Videos Other Resources

• Open in Standard Mode/Line • Add resource to

Simulation Mode disconnected study demo
• Siemens Digital
• Process Simulate Virtual • Attach file Industries Software Blog
Reality
• Cables - attachments
• Set Modeling Scope • Siemens Digital
• Cables - basics Industries Software videos
• Point cloud
• CAD to Study Parts • > Training & Support
• Cables
• Collision detection
• Robot program viewer
• Create points and blocks
• Convert and insert resource
CAD demo
• Duplicate Weld Operations
• Import signals
• Middle mouse customization
for manipulating the view
• Multi-user authoring
• Object Viewer
• Point Cloud - basics
• Point Cloud - layers
• Reload Product to
Disconnected Study
• Smart Tool Position
• Status Viewer messages
• TCMA Overview
• TCP tracking
• Viewing with a camera
More topics of interest Data load and layouting videos Simulation and OLP videos

• Manipulating Graphics • Creating a Path

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 • Paint during simulation • Inserting and Creating • Using Basic Simulation
Objects
• Working with Sensors • Detecting and Avoiding
• Positioning Objects Collisions
• Connect between PLC and
OLP Signals in Robots • Study Manger • Solving Reachability Issues
• Change the Properties of a • OLP Motion
Human Model Object modeling and
kinematics videos • OLP Commands
• Simulating Automated
• Teach Location
Guided Vehicles • Modeling
• Downloading and Uploading
• ABB Virtual Robot Controller • Defining Kinematics Operations to Robots
• Using Process Simulate VC • Defining Tools
Lite Event based simulation and
• Defining Poses virtual commissioning videos
• Robot Configuration
• Switching from Time- to
Event-Based
• Transition Condition
• Creating Material Flow
• Signals
• Behavior Modeling
• Behavior Modeling in SCL
• Behavior Modeling in LB
• Creating proximity sensors
• Creating photoelectric
sensors
• Creating position sensors
• Creating property sensors
• Defining conveyors

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 What Is Process Simulate?

2. Introduction
What Is Process Simulate?
Process Simulate is one of the applications in the Tecnomatix suite of applications. Process Simulate
enables process verification and detailed process authoring. It provides capabilities to design, analyze,
simulate and optimize manufacturing processes from the factory level down to lines and workcells.

Process Simulate includes the following applications:

• Human Optimization of Manual Tasks

• Weld
• Planning with Assembler Tool

Each application may be purchased and used separately or combined and integrated with other
applications.

For administration tools information, refer to the Tecnomatix Doctor section of the Tecnomatix
Administration guide.

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Applications overview

Applications overview
This section provides an overview of the applications included in the Process Simulate suite.

Basic
Tasks

Relocate robot,
Object viewing Measurements Manipulate the view Mount tool Snapshots
tool, part

Shaded mode Relocate Point to point Pick level

distance

Feature lines Placement Minimal distance

over solid manipulator

Wireframe mode Fast placement

Display objects

Blank objects

Feature lines

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 Assembler

Assembler

Planning with Assembler Tool

Assembler is a powerful tool that facilitates part assembly and disassembly planning processes. You can
conduct a static analysis and detect design errors early in the design phase of the process. You can create
static and dynamic analyses. Assembler also enables you to examine service and maintenance procedures
even prior to building the first physical prototype.

Assembler includes the following features:

• 3D visualization
• Creation of insertion and extraction paths
• Static collision analysis
• Complete assembly sequence definition using Gantt charts and tree diagrams
• Simulation including human and tool resources

Planning a product assembly sequence

Assembler enables you to define the optimal sequence of operations for product assembly and
disassembly. Dynamic charts and time lines enable you to view assembly possibilities and limitations,
and define the best sequence of operations accordingly.

Conducting a static analysis

Assembler enables you to conduct static analysis of an assembly. Using powerful analysis tools, you
can calculate distances between parts and focus on problematic zones within the path. The system
highlights collisions, violations and near misses in red or yellow throughout the process. You can create a
cross-section in wire frame or solid in order to study assembly possibilities and limitations more closely.

Creating an insertion/extraction path

Using Assembler, you can create a path to insert and extract a part. This is done by moving the part into
its location, while the system automatically records a path. The product also creates paths automatically in
complex assemblies.

Performing a dynamic analysis

Assembler allows you to analyze the process while the simulation is running so that you can detect
collisions during insertion of a part as it would happen in real life — either during manufacture or service.
The Stop on Collision feature automatically stops the simulation upon detecting collisions and violations,
allowing you to note and fix problems throughout the process.

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Human

Benefits

Assembler provides the following benefits:

• Detects design errors at early planning stages

• Geometrically validates assembly sequences
• Reduces the number of physical prototypes
• Reduces cycle times at planning and ramp-up stages

Assembler is fully compatible with Human Optimization of Manual Tasks. Together, these products
enable you to analyze kinematics, robot movement and human motion, as well as to determine the
optimal tool, robot or device needed for the part assembly process.

Human

Human optimization of manual tasks

Human provides a 3D virtual environment for interactive design and optimization of manual tasks. In a 3D
model of the actual manufacturing environment, you can define the work sequence using a virtual human
model. Comprehensive functions allow for accurate analysis of the workplace in regards to execution time
and ergonomics of the human task. The impact of modifications can be checked instantly, thus enabling
the planner to optimize the work system prior to implementation.

Human includes the following features:

• Female and male models in different percentile sizes

• Reach envelopes for fast workplace configuration
• Time analysis based on the MTM, UAS and MEK methods
• OWAS ergonomic posture analyses
• Burandt-Schultetus hand-arm force analyses
• Field-of-vision analysis
• Advanced kinematics and motion capabilities
• Macros for fast task modeling
• Documentation generation (for example, animated work instructions)

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 Human

Detailed design of manual operations

Human provides a 3D virtual environment wherein you can design and optimize manual operations. A
library of human models of different gender and sizes, based on international standards, ensures that the
workplace design is suitable for a broad range of workers. The human models provide inverse kinematics
and posture calculations for the complete body, enabling detailed, accurate and efficient design of human
tasks. Different grasping and walking macros allow fast and simple definition of human motions. Human
postures can be defined interactively either by joint-jogging or directly in the Graphic Viewer. Human
postures can be managed in a posture library.

Checking the feasibility of tasks

Human provides capabilities to detect collisions between the human and the environment, ensuring the
feasibility of human tasks. A separate window on the screen, showing the worker's field-of-vision, allows
close examination of tasks from the worker's point of view.

Time analysis

Using Human, you can determine assembly cycle times using the MTM, UAS and MEK methodologies,
which are widely accepted standards for determining cycle times of manual operations.

Ergonomics analysis

Ergonomics analysis functions qualify manual operations with respect to ergonomics standards. The
Burandt-Schultetus analysis method is used to calculate the hand-arm force of human tasks. The OWAS
method is used to analyze work postures. Using the results from time and ergonomics analyses, you can
rearrange workplace elements and rerun simulations without modifying the explicit task.

Generating manufacturing information

Human can be used to generate work instructions containing snapshots or animations. Such documents
provide excellent training material for shop-floor workers, and can be distributed throughout the
enterprise over the Web.

Benefits

Human provides the following benefits:

• Optimizes assembly cycle times

• Increases productivity of production facilities
• Improves ergonomics of workplaces
• Reduces planning time and cost
• Improves communication of planning results

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Event-based simulation

• Includes comprehensive documentation

Event-based simulation

Event-based simulation module

Time-Based simulation mode simulates a single production cycle from start to finish with a pre-defined
sequence of operations. However, Event-Based Simulation or Line Simulation or CEE (Cyclic Event
Evaluator) simulation mode simulates multiple dynamic production cycles based on events and triggers
as opposed to a pre-defined sequence.

Event-Based (CEE) simulation and validation provide simulations that accurately reflect the proposed
manufacturing system, as well as a tool to fine tune the mechanical, automation and electrical aspects of
the manufacturing systems. It also enables you to test and validate robot synchronization.

When working in Line Simulation mode, operations in Process Simulate (with the exception of compound
operations) automatically generate operation_end signals. These signals are used as default transition
conditions when the simulation engine evaluates which operations to execute. When you run the
simulation, each time a certain operation execution ends, this specific operation operation_end signal
is set to TRUE for one computation cycle (i.e. Time Interval) and then reset to FALSE. This will repeat each
time the operation is executed, as illustrated in the following figure:

The Event-Based Simulation module provides a simulation environment that supports the design and
verification of sophisticated production stations. The module can simulate production stations where a
variety of robots, manufacturing resources, and control devices must function in full synchronization.
Process Simulate's Event-Based Simulation module offers an approach that is much more accurate than
conventional time-based (sequence) simulations, creating programs off line and an event-based and
flow control simulation that enables you to simulate multiple robots and the surrounding devices in the
production station.

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 Event-based simulation module

Using the unique simulation capabilities of the Event-Based Simulation module, OEMs, line builders and
system integrators can save time and costs by identifying synchronization and automation problems, long
before they start the expensive process of deploying new production stations.

Note
The LineOperation itself is automatically set to be the active operation when loading a study in Line
Simulation mode.

Even when running in Line Simulation mode, it is still possible to simulate a single cycle of any
operation nested under the LineOperation, by setting it as the active operation scope, and then
returning to the LineOperation itself.

In a conventional time-based simulation, the predefined sequence of operations (SOP) dictates the
simulation of the process. In event-based simulation, the logic of the process and the events that occur
during the simulation determine the course of the simulation. The sequence of the operations is only one
element of the complete logic definition. Because the events that occur during a simulation can vary, each
simulation of the same process can be unique.

The logic defined for the process uses two types of events to determine the course of a simulation:

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Unique abilities of Event-Based simulation

• Resource-triggered events. For example:

◦ A clamp reaches a specific pose.
◦ A robot reaches a specific location.
◦ A robot completes a weld operation.
◦ A conveyor starts to operate.
◦ An operator pushes the emergency button on a control panel.
• Non-resource-triggered events. For example:
◦ A process completes 4 cycles.
◦ A specific operation starts for the first time.
◦ A specific operation runs for 10 seconds.

The sequence of the simulation is largely determined by the prerequisite conditions that are defined for
each operation in the process. The conditions are defined by a single event or a combination of events.

• Single event — For example, a device operation that closes a clamp may start only after the part is
placed in the fixture.
• Combination of events — For example, a robotic weld operation may have a condition to start only
when the parts are in the fixture, all clamps are in the CLOSE pose, and the robot is not performing
another operation.

The following is an example of a prerequisite condition for a weld operation. The condition is defined by
several resource-triggered and non-resource-triggered events, as follows:

• The operation cannot start until an operation that closes the clamp is complete.
• The part is in place.
• The robot is not performing another welding or handling operation.
• No maintenance operation is required.
• The Emergency button was not pushed.

This video demonstrates time-based to event-based simulations.

Note
Videos are not included in PDF. To access videos, use HTML.

Unique abilities of Event-Based simulation

The goal of simulation is to connect the 3D aspect of the process (resources, parts and operations) to
the logic of the process. The Event-Based Simulation better approximates the shop floor process, taking

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 Cyclic Event Evaluator - CEE

into account many additional elements such as failure scenarios, mixed production, maintenance, and
operational problems.

In addition to creating a more realistic simulation, event-based simulation enables you to analyze aspects
of the manufacturing process that are not possible to analyze in time-based simulations. For example:

• Calculating average cycle time, robot-added and non-added values, idle time, etc.
• Analyzing and optimizing a mixed production process, including collisions, flow of material, logistics,
bottlenecks, time difference between different mixture ratios, etc.
• Analyzing and optimizing maintenance operations (for example, robot tip dressing).
• Analyzing and optimizing QA related tasks, such as inspection.
• Reporting statistics of the process, such as the number of products produced after a given time, the
number of times an alternative was applied, etc.

Cyclic Event Evaluator - CEE

The Cyclic Event Evaluator (CEE) is at the core of the event-based simulation engine. The CEE acts as a
control center for the simulation. For each cycle of the simulation, the CEE collects and evaluates the PLC
signals to determine the flow of the simulation.

Because the CEE functions cyclically, the event-based simulation is a continuous, infinite simulation that
starts when you click Play and ends only when you stop the simulation. During the simulation, operations
may start many times. The simulation may include identical cycles of the same process or different
variations of a process. For example, in the first cycle, the process may take a part from container A and the
second cycle of the same process may take the part from container B.

Part appearances

CEE simulation requires a new concept for defining parts in the simulation. A standard time-based
simulation simulates the process only once and requires only one instance of each part in the simulation.
In contrast, CEE simulation uses part appearances instead of part instances. When an operation that
requires a part begins, the simulation creates a new appearance of the part instance if necessary,
according to a set of rules, including inheritance and location rules.

The following example process illustrates how CEE simulation uses part appearances:

1. Take two parts.

2. Weld the parts.
3. Move the parts to the next station for further weld operations.
4. Move the parts to a third station.

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Full station design on a single platform

When simulating this process only once, one instance of each of the two parts is sufficient. The parts start
at the first station, then move to the second station, then move to the third station. In a continuous
simulation, the process consumes one appearance of the two parts in the first cycle, then in each
subsequent cycle, the simulation creates new appearances of the two parts for the first step of the process.
The behavior is similar to a real line on a shop floor, where the line continuously receives, and in turn,
produces new parts.

The following figures illustrates the multiple part appearances that the simulation creates for three cycles
of the process described above:

Full station design on a single platform

The design of production stations must account for many robots and controlled devices. Designers
typically divide the design process into two stages:

• The first stage of design (after programming the path or the specific device behavior) is to ensure that
the station works in conjunction with all of its resources. In order to simulate real behavior, the logical
dependencies of different resources in the production station must be defined. The logical dependencies
must interact with events and production variances. Line-builders and OEM line designers carry out this
task.
• The second stage of design is to create a detailed PLC program, enabling the design and coding of the
overall logic, then to verify the logic in a simulated environment, using the OPC client functionality built
into Process Simulate. This is done with careful consideration of the PLC that is actually used to control
the production station. This step is critical in the deployment of the line. Line-builders, engineering
houses, system integrators, and others carry out this task.

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 Support for advanced robotic commands

The Event-Based Simulation module enables you to use Process Simulate to carry out the two stages of
design on a single platform, reducing the time of on-site integration and the cost of changes.

Support for advanced robotic commands

The CEE environment enables you to run advanced robotic commands, for example, CallPath, CallProg, or
macros that contain one of these commands.

Only robotic controllers can control the execution of Called Paths. The event-based simulation (line
simulation) engine (CEE/OPC engine) does not recognize Called Paths and therefore they are not
connected to the material flow. Connecting Called Paths to the material flow process enables the system to
pass parts consumed by preceding/call operations to the Called Path.

Robotic paths belonging to default programs do not run in the regular Gantt order. If you wish to prevent
other paths from running in the regular Gantt order, build an operation structure where these paths always
have a false start condition.

For detailed information about material flow behavior as it relates to robotic programs, refer to Material
flow support for Called Path execution.

Material flow support

Material flow support for Called Path execution

Only robotic controllers can control the execution of Called Paths. The event-based simulation (line
simulation) engine (CEE/OPC engine) is not aware of Called Paths and therefore these are not connected
to the material flow. Connecting Called Paths to the material flow process enables the system to pass parts
consumed by preceding/calling operations to the called path.

Connecting Called Paths to material flow processes

In event-based simulation (line simulation) mode, when a robotic controller executes a Called Path
command (or any command that calls a robotic operation from within another robotic operation), it
notifies the robotic engine (which in turn notifies the event-based simulation engine) that a Called Path is
to be executed. The only data required by the event-based simulation engine are the called operation and
the calling operation. The engine then performs the material flow calculation for the called operation (as it
does for any operation) and assigns it the correct part appearances.

The system checks for the existence of the parts consumed by the Called Path (as with any operation):

• At the beginning of execution of the Called Path

• On each location (but not on events set on the operation)

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Called Path part sources

After the event-based simulation engine completes the material flow calculations for the Called Path,
the robotic controller resumes control and execution proceeds as in previous releases. When the system
completes execution of the Called Path, it again notifies the event-based simulation engine. The event-
based simulation engine unassigns the part appearances from the Called Path and performs material flow
finalizing procedures (as it does when any operation finishes running).

Note
• Connecting a Called Path operation to a material flow process is performed only if the Called Path
operation is not running concurrently as a regular operation or as a path called from within another
operation.
• If an operation is currently running as a Called Path, the simulation engine blocks it from running
regularly.
• This behavior should be applied to all controller implementations, including the default controller, and
for all commands that call robotic operations (CallPath, CallProg, or a macro that contains one of these
commands).

Called Path part sources

To accurately calculate the material flow for the Called Path operation, the system determines from which
operations the Called Path can receive the parts it consumes. The parts consumed by the Called Path can
be any of the following:

• Parts that are accumulated by the calling operation (are assigned to the calling operation or to one of its
preceding operations).
• Parts that are accumulated by the Called Path itself (are assigned to one of its preceding operations).
• Parts that are produced by the Called Path itself (if the part is listed in its Parts-to-Produce list).

Scheduler operation scenario

In this case, the calling operation has no functionality other than calling paths. The operation itself has
no location and the command's Call Path is set directly on it. Calling the operation performs scheduling
of other paths but no other real actions. The following figure demonstrates the implementation of this
scenario.

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 Scheduler operation scenario

The scheduler operation Scheduler_Rob1 is responsible for the execution of Robot1 robotic operations,
while the scheduler operation Scheduler_Rob2 is responsible for the execution of Robot2 robotic
operations.

The operations (paths) called by the schedulers appear in the regular Gantt structure. The links between
them imply the material flow between them.

Note
A Called Path operation can be connected to either another Called Path or to another regular operation
(that is not executed by a Call Path command).

It is the user's responsibility to block running these paths in the regular fashion (by setting their transition
condition to False) and ensure that the operations are executed only through Call Path commands.

Note
When activating the segmentizer tool to divide robotic operations into multiple segments, the transition
condition that was set on the original operation should now be set as the transition condition for the last
segment.

The above figure shows that part p1 is produced by Rob1Op1 (p1 is included in the Rob1Op1 Parts-to-
Produce list). The part is moved to the operation succeeding Rob1Op1. This is also a Called Path and the
part is then moved to an external operation - a flow operation not controlled by the calling operation. The
external operation uses the part and moves it to Rob2Op1 which is also a Called Path (of another robot).
The result is that Rob2Op1 received the part from its own preceding operation.

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Scheduler operation scenario

In this scenario, the real material flow structure of the Called Path is defined in the regular Gantt view,
while its execution logic is defined in the OLP commands of the calling operations.

The following example demonstrates a more complex scenario:

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 Robotic operation scenario

In this scenario, Scheduler_Rob1 and Scheduler_Rob2 are linked and create double structures of material
flow (Called Paths and the schedulers). All the robotic operations consume parts p1 and p2. The Called
Paths receive p2 from their calling operation (the scheduler operations). p2 does not move along the
links (as p1 does), rather, the Called Path borrows p2 from the calling operation for the duration of path
execution only. Thus, p2 is lent to Rob1Op1, then borrowed by Scheduler_Rob1 for Rob1Op2, moves to
Scheduler_Rob2 (because of the link between Scheduler_Rob1 to Scheduler_Rob2), and is then lent again
to the paths. Additionally, p1 (the part that was produced by Rob1Op1) does not move to Scheduler_Rob2
and its succeeding operation.

The scenario described above can be implemented even if each scheduler operation belongs to a different
compound operation. There can be no links between Rob1 operations and Rob2 operations (because they
belong to different compounds). Refer to the following figure:

Links between Station1 to Station2 are considered to be links between the last operations (the operations
that have no outgoing links) in the first compound (Station1) and the first operations (the operations that
have no incoming links) of Station2. As scheduler_Rob1 has no outgoing links, p2, which it consumes, is
passed to the first operations of Station2. Scheduler_rob2 is such an operation, and it receives p2. Because
Rob2Op1 has also no incoming links, it can receive p2 directly from Station1 and does not need to borrow
it from its calling operation. p1 is passed to the Station2 operations because it is consumed by flowOp
which has no outgoing links in Station1, and is therefore considered as linked to the first operations of
Station2 (Scheduler_Rob2 and Rob2Op1).

Robotic operation scenario

In this case, a regular weld operation welds part p. Refer to the following figure:

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Nested Called Paths

In this scenario, weld_op starts welding part p. When it reaches via1, there are two conditioned Call Path
commands according to the current state, weld_x and/or weld_y. One of these is called and it continues
welding other sections of the same part p. After this, weld_op continues to its next weld points. In that
case, the user may want to block the Called Paths from participating regularly in the material flow (as
illustrated above). The operations weld_x and weld_y that require part p, borrow it from weld_op (the
calling operation).

Nested Called Paths

This behavior is relevant for executing Called Paths at all levels. If a Called Path that itself contains a Called
Path command calls another Called Path, the grandchild Called Path receives parts from its preceding
operations, as well as the parts that are accumulated by its calling operation - the grandfather calling
operation.

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 Using macros in event-based robotics

Using macros in event-based robotics

Macros

A Robotic Macro is a list of predefined robotic OLP commands which can be stored in a macro file and
invoked by various applications. You can reduce the amount of program code by writing similar and
often-repeated program sections in a Macro and calling it as necessary. This also adds structure to the
program and creates a hierarchical configuration so that individual macros, called by high-level programs,
can process tasks completely and pass on the results.

All the macros for a particular robot controller are stored in the robot's macro file and there should
be a single macro file for each robot controller. These files are named according to the following
naming convention: <controllerName>.macros, for example Default.macros and ABB.macros, and
their storage location is defined in Motion tab.

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Using macros in event-based robotics

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 Using macros in event-based robotics

Macro file format

A macro file is an ASCII file (plain text). Each macro file contains the macro definition for its controller's use,
in the following format:

MACRO <macro name>

<OLP Command>
<OLP Command>
<OLP Command>
...
.
MACRO <macro name>
<OLP Command>
<OLP Command>
<OLP Command>
...
.

Where <macro name> is the name of a specific macro (in the specific controller syntax), and each <OLP
Command> is an OLP command in the syntax of the specific controller. For example, a macro file for the
VKRC controller may look like this:

MACRO macro31
; Waiting for signals
wait for A11
; Sending signals
A44 = ON
A55 = OFF
.
.
MACRO macro22
; Wait time
wait time 10
; Send signal
A66 = ON

Simulating robotic macros

Robotic macros are handled as regular OLP commands, can be nested on robotic locations using the Teach
Pendant command, and should be written in the specific controller syntax (for example, in VKRC: SPS
Macro 22 = ON).

While simulating a macro command, the specified robot controller simulates each command just as if it
existed in the OLP command list in the Teach Pendant.

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Using macros in event-based robotics

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 OPC simulation

If a command is not recognized by the controller or fails to execute, the ensuing behavior follows the
specific controller logic and is the same as for any OLP command (such as: ignore the command, show
error message, terminate simulation, etc.).

Sharing a robotic macro between robots with the same controller type

A single macro file can be shared by multiple robots having the same controller type if it provides individual
signal space for each robot, as follows:

• Each robot must have its own signal space.

• The (external) PLC Signal Name must be different for each robot as a common view is applied.
• However, the (internal) robot signal name can be identical for all robots as only the specific robot
controller for this specific robot looks at these signals.

OPC simulation

OLE for Process Control simulation

The OLE for Process Control (OPC) simulation option in Process Simulate requires a PS/C license. To use OPC
simulation, the OPC server provided by the vendor must be correctly installed on the PC.

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SimulationUnit PNIO simulation

OPC standard

OPC is based on Microsoft's OLE environment and therefore requires the OLE COM technology to be
installed with the operating system. OPC defines standard objects, methods, and properties to meet the
interoperability requirements of real time process automation applications. The requirements include the
following:

• A standard technique for addressing information contained in process control devices and systems.
• An efficient transfer of data from a process device to an application.
• Server-specific configuration support.
• Client / server and modular architecture.
• The ability for a client to use several servers simultaneously.

Most automation vendors support the OPC interface for data transfer between host system computers and
Windows applications, both for general purposes and for operation and monitoring functions.

The OPC interface supports Data Access (DA) servers that transfer data between Control Host systems and
general purpose interfaces. The DA Server reads (collects) and writes (sets) the current values of process
data, using item IDs (variable names) as data identifiers.

Refer to PLC bTab for details on configuring OPC simulation parameters.

SimulationUnit PNIO simulation

Process Simulate supports direct connections to programmable SimulationUnit PNIO devices, emulating up
to 256 ProfiNet I/O devices — known as PNIO.

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 Weld

This is particularly useful for simulating safety devices in the ProfiNet network where fast simulation is
critical.

Refer to PLC tab for details on configuring SimulationUnit connections.

Weld

Welding design

Weld addresses the welding design process while taking into account critical factors such as space
limitations, geometric considerations and collision. Powerful features such as robot reach test, multi
sections, and weld-point management tools enable you to create virtual cells and optimize the welding
process.

Weld includes the following features:

• Two-way data transfer to and from various CAD/CAM systems

• 3D visualization
• Static and dynamic collision checking

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Robotics

• 2D and 3D cross-sectioning
• Advanced tools for weld-point import, integration and management
• Kinematics modeling of robots and devices
• Simulation of part flow and mechanical operations
• Robot jog, joint jog and poses
• External TCP and mounted workpiece

Designing a spot-welding layout

Weld enables you to design robotic spot-welding and station layouts quickly and easily, using existing car
parts from CAD systems and using weld-point data imported from the process database. You can use 3D
models of robots and standard peripheral components from the user-defined library, or create new models
using system modeling tools.

Selecting the best gun

Weld automatically creates sections by slicing weld-point fixtures and work pieces. You can use these
cross-sections to investigate specific zones of interest. Weld enables you to select the optimal gun for
a particular spot-welding job by providing weld-point information, and required welding parameters.
Alternatively, you can design your own gun or modify an existing one using the system's 3D solid modeling
tools and the dimensions of cross-sections of the work piece. Weld enables you to save time and cost, by
providing automatic sectioning, thus eliminating expensive trial and error on the shop floor.

Optimizing robot placement and layout

Welding tools prevent costly errors and save precious time on the shop floor. The software verifies that the
robot reaches each weld-point without colliding and interfering with other equipment, fixtures and work
pieces.

Robotics

Robotics and Automation Planning

Process Simulate Robotics and Automation Planning provides the basis for generating a variety of
simulations and commissioning.

Technical capabilities include applications specific to welding, commissioning of plant floor systems,
coverage across various robotic applications, wizards and automation tools for manufacturing feature
management and path planning. The Robotics and Automation Planning uses the next generation of
robot technology for ensuring complete system compliance by utilizing a controller specific approach when
simulating and downloading to the various vendor robots.

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 Compound Kinematic Equipment

The Robotics and Automation Planning environment supports a variety of industry standard OLP
Controllers and an open architecture based on ROSE and .NET capabilities for highly configurable
environments.

Collaborative productivity

Collaborative productivity enables engineering teams to design workcells, with complexities that range
from single stations to complete lines; these capabilities are provided in an open and controlled
environment that expedites development and validation.

• Optimized Feature Distribution and Management i.e., Welds, Datums through distribution technologies
that provide dynamic viewing of assignment status.
• Improved team coordination from cell through station level development and the ability to handle
today's robot garden manufacturing configurations.
• Graphic system is based on the JT engine with kinematics support.

Virtual robotic and automation commissioning

Process Simulate commissioning enables users to streamline the existing manufacturing and engineering
data from conceptual design down to the shop floor. It supplies users with a common integration platform
for the various disciplines participating in real commissioning of a production zone/cell (mechanical and
electrical).

It enables simulation of real programmable logic controller (PLC) code with the actual hardware using
Object Linking and Embedding for Process Control (OPC) and the actual robot programs, thus enabling a
very realistic virtual commissioning environment.

Compound Kinematic Equipment

Process Simulate supports the use of component hierarchies that are saved as structures in the server.
These are called Compound Kinematic Equipment, can include kinematics, and can be reused (as library
objects). You can use this kind of data model for fixtures and other custom tools as well as for robots with
cables.

Note
• The overlay indicates that you can create a hierarchy under the Compound Kinematic Equipment.
• It is necessary to Set Modeling Scope to modify the hierarchy or define poses and kinematics.

When using other applications, such as CAD integration, NX, or Teamcenter RAC, to add such hierarchical
tools to the Teamcenter server, you must ensure that the hierarchical structure, including the root, is
not composed of workarea types (these are reserved in Process Simulate for grouping resources into
a Compound Resource). In this case, it is not required to add a kinematics dataset to the Compound
Kinematic Equipment root.

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Compound Kinematic Equipment

Note
For backward compatibility, if there is already a Compound Kinematic Equipment with hierarchy of
workarea type, you must add a kinematic dataset.

• In addition, it is possible to configure Compound Kinematic Equipment types in the Teamcenter Mapping
Configuration Tool and proceed as follows:
1. Select a resource under which to nest the new Compound Kinematic Equipment.
2. Choose Modeling tab → Scope group → New Object.

3. Select an Object Type that is defined as a Compound Kinematic Equipment, for example Fixture
Assembly Root, and click OK.
The Compound Kinematic Equipment is inserted in under the selected resource.

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 Compound Kinematic Equipment

The following modeling actions are available for authoring Compound Kinematic Equipment in Process
Simulate:

• Define kinematics.
• Reposition objects in the Compound Kinematic Equipment hierarchy.
• Model nested resources.
• Add a child resource by creating it directly under the compound equipment, in any of the following
ways:
◦ Drag and drop
◦ Copy/paste
◦ Resource Search
◦ Assign Data from Teamcenter
◦ Create Cable inside Equipment
◦ New Object. After creating a new object, you can use the Set/Replace JT command to set a JT file for
it.
• Remove a child by deleting it or dragging it outside of the compound equipment.

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Teamcenter integration

Teamcenter integration

Sending information to Process Simulate

You can select a process or operation in Teamcenter MPP to send to Process Simulate in order to perform
detailed simulation. All of the products, tools, and areas associated with the process or operation are sent
to Process Simulate. For more information, refer to Launch Process Simulate from MPP.

Defining simulations In-Context

You can associate data in Teamcenter with specific occurrences of objects in specific structures. Such data
is said to be persisted In-context of that specific structure and is therefore available only when viewing the
occurrence of the object in the specific structure. When you view a different occurrence of the same object
in another structure, that data is not available.

Process Simulate stores simulations, scene details, images and movies In-Context when the In-Context
mode is activated in the mapping file. In this case all new simulations, scene details, images, and movies
are associated with a specific occurrence and in the context of the top level item of the current view in
the Teamcenter Manufacturing Process Planner application. When the In-Context mode is active, Process
Simulate prefers datasets defined In-Context over revision-level datasets. By default, In-Context mode is not
activated, data is context-insensitive, and stored together with item revisions, shared by all occurrences.

A typical application of the In-Context mode is when you intend to reuse the same operation item
revision in several plants. In each plant the operation performs the same task (for example, transporting
a container) but in each case, it performs the task in a different way and with different resources. In one
plant the task might be performed by a human and in the other plant by a robot.

Note
Activities are never created In-Context. All occurrences of an operation share the same activities.
Therefore, it is preferable to use compound operations rather than activities when grouping operations.

Monolithic JT files

Complex devices can be represented by a multi-level hierarchy in Teamcenter. This is desirable when,
for example, you are importing a complex kinematic device into your simulation and do not require
information about its hierarchy or when the internal hierarchy of the device is not relevant for simulation
purposes. It is possible to create a monolithic .JT file at the root node of the hierarchy. This monolithic JT
file represents the whole hierarchy in a single file.

Process Simulate supports a mapping scheme that controls the way Process Simulate represents complex,
multi-level devices. The mapping scheme implements either loading the entire hierarchy into Process
Simulate or loading the monolithic representation, if such exists. For details about the default mapping

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 Mapping locations between Process Simulate and Teamcenter

scheme, refer to the Default Mapping Scheme for Monolithic JT Files section in the Process Simulate on
Teamcenter Administration documentation.

Process Simulate can be configured so that a hierarchy with a monolithic JT file is loaded as a United
Instance Representation. This is useful for two reasons:

• System performance improves when the quantity of data is smaller.

• The component can be converted to a Process Simulate kinematic device.

Note
To create monolithic representations of devices, you must run an API batch process in Teamcenter. For
more information on this topic, refer to the Teamcenter documentation.

Process Simulate supports the following representations when importing 3D data from Teamcenter:

• Detailed Representation — The 3D representation is loaded only if the specific occurrence has no
children. The occurrence becomes an instance.
• United Instance Representation — The 3D representation is loaded. If it has children, these are not
loaded. The occurrence becomes an instance.
• United Compound Representation — The 3D representation is loaded. If it has children, these are
loaded. The occurrence becomes a compound.

United representations represent Teamcenter kinematic devices as a single node in Process Simulate. This
provides the following advantages for complex devices:

• Support for kinematics in multiple-level devices.

• Improved performance for large hierarchies.
• Less volume requests and less disk access.
• Reduction in memory requirements.
• Improved graphic performance.

Mapping locations between Process Simulate and Teamcenter

Process Simulate uses the Teamcenter database. Not all the changes you make to a scene in Process
Simulate are stored (perpetuated) in Teamcenter. This section describes the physical/locations mapping
between Process Simulate and Teamcenter and describes where various information is stored in
Teamcenter.

This section describes the how location changes you make to products or resource nodes in Process
Simulate are stored back to Teamcenter. It describes:

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Mapping locations between Process Simulate and Teamcenter

• Where various information is stored in Teamcenter.

• Product location changes.

All product changes are blocked in Process Simulate. You can make location changes as follows:

• Create snapshots in Process Simulate. This saves the product location only in the Process Simulate scene
(when applied).
• Update only the root product node location (product nodes that are roots in the Process Simulate scene)
by checking Process in Teamcenter Update. With this method, both Teamcenter Process view and
Process Simulate show the same view and product positions.

Resource location changes are updated from Process Simulate when updating and checking Plant in
Teamcenter Update.

To update only the root node Plant node, check Process in Teamcenter Update. For example, relocating
the whole station to the Product location and checking Process in Teamcenter Update updates the station
occurrence in the Process view and not the position of the station in the Plant view.

The Manufacturing Process Planner (MPP) in Teamcenter has three views: Product, Process, and Plant.
The following table describes where Teamcenter stores the various Process Simulate structures in the
Teamcenter views in order to achieve the desired behavior.

Teamcenter MPP Location

Process Simulate Item Root Descendants Comment
Resources MPP\Process View MPP\Plant View Internal structure is broken
Parts/Products MPP\Process View Not Saved Internal structure is maintained
MFGs MPP\Process View Not Saved
Occurrence Groups MPP\Process View Not Saved Internal structure is maintained
Prototype Assignment MPP\Process View Not Saved Internal structure is maintained

Note
If you update the location of a root in the MPP\Plant View, its child components are updated in the
MPP\Process View relative to the root. For example, if you move a Plant root, the X, Y coordinates of the
root and child are as follows:

Before After
Root 500, 600 600, 600
Child 500, 600 600, 600

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 Assignment propagation

The location of the child will be listed in Teamcenter as follows:

Before After
Plant View 500, 500 600, 600
Process View 0, 0 100, 100

Assignment propagation

In Process Simulate, you may assign an object (resource or part) to a simulative operation, even if this
object is not assigned to a direct ancestor of the simulative operation. In such a case, Process Simulate
performs assignment propagation to reveal the new assignment in the Teamcenter MPP tab.

For example, after sending Line1 to Process Simulate, you may create the simulative operation SimWeld1
under the WELD1 operation and assign robot2 to the new simulative operation. However, because robot2
is assigned to Station2, the new assignment is not represented in the Teamcenter user interface if there
is no assignment propagation. This is because simulative operations are not displayed in Teamcenter
and assigning objects to simulative operations in Process Simulate has no effect in the Teamcenter user
interface. Assignment propagation is required because robot2 is not a direct descendant of Station1 in
the process structure. Assignment propagation solves the problem by automatically assigning robot2 to
a direct ancestor of SimWeld1 (parent, grandparent, etc.). The following figures illustrate this scenario in
Teamcenter.

Assignment propagation:

• Creates Teamcenter assignments for indirect assignments made in Process Simulate and makes you
aware of the fact that the resource is being used in a certain process or operation.
• If the assignment was made in error (you are more likely to want to make direct assignments), it is easy
to notice and fix.

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Assignment propagation

• If the assignment is intended, assignment propagation ensures that the resource is included in the scene
(closure) every time its ancestor is sent to Process Simulate.

The following figure displays the result in Teamcenter after assignment propagation.

For information on configuring assignment propagation, refer to the Configuring Assignment Propagation
section in the Process Simulate on Teamcenter Administration documentation.

The following flow chart describes the assignment propagation algorithm:

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 Resource mapping

Resource mapping

In Process Simulate on Teamcenter, there is a generic distinction between three technical types of
resources:

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Resource mapping

Copy/Paste/
Insert from
3D Graphic Teamcenter
Definition Example (JT) Kinematic action
Resource Tool of single Robot, Human, A single Kinematic is in Creates a
Instance component Gun, others monolithic JT the JT (refers reference (new
to entities in occurrence) to
the the same
component) revision
Compound Assembly Tool Fixture, Robot The leaves of Kinematic is in Create a
Equipment Assembly the assembly a separate file reference to
(robot with are resource on the top the same
everything instances object. revision
attached to its (single JT) (kinematic.xml
links. For ). Refer to the
example, No JT on the components
cables, Dress top or below
package) intermediate
levels.
Compound Assembly of Line/zone/ May hold a JT NA Create a cloned
Resource tools or other station for PMIs only resource for
compound compound
resources Robot Package resources, the
(robot tools below are
assembly with not cloned, but
related gun, referenced
PLC, etc.)

Process Simulate on Teamcenter assumes the following:

• Compound Resource – Any MEWorkarea that does not have kinematics

• Compound equipment - any non-workarea with hierarchy
• Resource Instance – any non-workarea without hierarchy

For backward compatibility with existing data, a resource assembly root with an attached kinematic
dataset is still considered as a compound equipment. A MEWorkarea object with a DirectModel dataset is
treated as a resource instance and the geometric is loaded. (with version 2203 and above).

When using the New Object command to create a new resource, select Workarea type or its derived
classes for the creation of compound resources. To create resource instances, you can use any non-
workarea type, as needed.

From Tecnomatix release 16.0 and onwards, the MEWorkarea type is reserved for compound resources and
should not be used to represent tools (either single components or compound equipments).

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 Compound kinematics

Compound kinematics

By default, a Teamcenter assembly is represented in Process Simulate on Teamcenter as a hierarchy of

compound nodes. Only leaf nodes with 3D data are represented as components. Compound nodes cannot
have 3D data, and they can only be modified if they are not reused in the current scene. Modifications such
as changing the position, renaming or adding child nodes can be done without modeling.

It is possible to map an assembly as Equipment, causing all nodes to become components, with 3D
representations if desired. Changing the 3D representation, the name or the positions of the children of
such nodes always requires modeling. These changes are possible even if the components are reused.
Users can also create 'compound devices' out of Equipment. However, Process Simulate on Teamcenter
does not support changes to the hierarchy, such as adding children to Equipment or removing them. Users
need to perform these changes to the assembly in Teamcenter.

Equipment must always be loaded as a Equipment - it is not possible to convert a loaded assembly to
Equipment. To load assemblies as Equipment, users have two options:

• Attach a certain dataset to the item revision of the root. The dataset type and relation to be used can be
configured in the mapping file. By default it is 'Kinematics' and 'KinematicsRelation'.
• Mark certain item revision subtypes as Equipment and construct the assembly from items of these
subtypes

Users can construct a compound device from it. Compound devices are similar to regular devices - they are
composed of links, joints and frames. While both regular and compound devices can be constructed using
most kinematic dialogs, the main differences between them include:

• The joints of compound devices move sub assemblies but not entities.
• Compound devices can be nested, while regular devices cannot.
• The joints of compound devices can be connected to each other using 'coupling' (see Joint Dependency
Editor).
• Attachments between nested devices can be created. In contrast to regular attachments these
attachments are saved with the prototype.

Note
The attachment parent must be either a link geometry of a PLMXML device or a link object of a JT
device.

The joints, links and frames of compound devices are always associated with a single node - the root node
of the device. It is important to note that this node is not necessarily the root node of the Equipment.

To create a compound device, start modeling this node and use the regular kinematics editor to create the
links and joints. The Link Properties dialog allows you to select the link geometries. For a compound device
you can select only sub assemblies but not entities.

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Edit custom operation descriptions

You can create nested devices by building kinematics for both a root and a child node of Equipment
and you can connect joints of nested devices using the Joint Function dialog. See the Kinematics Editor
section for more details. Nested devices are useful, for example, to build fixtures consisting of several
identical clamps.

Kinematics data of compound devices is stored separately from the geometric data. Thus it is possible to
update the geometry from CAD without losing the kinematics. It is also possible to use JT kinematics as
leaf nodes in Equipment. Poses that are defined for a nested compound device contain both the joints of
the root device and all joints of the sub devices.

Edit custom operation descriptions

Procedure

1. From the Operation Tree, right-click an operation or process and select Operation properties.
The Properties dialog appears.

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 Right and left-handed transformations

2. Edit your customized description in the Comment box and click OK.For information about how
to configure Teamcenter to enable custom operation descriptions, refer to the Tecnomatix Doctor
section in Tecnomatix Administration.

Right and left-handed transformations

In Teamcenter, parts possess transformation matrices which include mirror information. This means the
same part can exist in right and left-hand configurations. Process Simulate supports both right and left-
hand configurations for parts sent from the Teamcenter Product view and displays them correctly in the
Graphic Viewer. The following figure shows right and left-handed versions of the same component.

Note
• It is not possible to change the mirror transformation of a part in Process Simulate. However, you can
change the mirror transformation of the part in Teamcenter and then reload it in Process Simulate.
• When loading an object in entity level (see Load Entity Level), Process Simulate opens all the child
entities according to the parent component. For example, if the parent is a left-handed component, all
the child entities are opened as left-handed entities.
• All new frames created in Process Simulate are right-handed. If you create a frame for a left-handed
object, Process Simulate flips the x-axis so that the new frame is right-handed.

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Time integration

Time integration

The time analysis for each operation is stored in the Teamcenter Time tab and the operation's
corresponding activity root object in the Operation Activities tab. When operations are exported to
Process Simulate, the data in the Time tab is used if there is a conflict. If the time data in the Time tab
equals zero (the operation has never been simulated in Process Simulate), the data in the activity root
object of the Operation Activities tab is used. An activity may have nested activities with their own times.

You can set the Allocated Time in Teamcenter. The Simulated Time corresponds to the Verified Time
in Process Simulate and is controlled by Process Simulate and set during simulation. If you change this
in Teamcenter, Process Simulate will overwrite it. The Teamcenter Estimated Time has no equivalent
in Process Simulate. Activities nested under operations in Teamcenter do not have a Time tab but their
Duration attribute may be set in Properties and their Verified Time can be viewed.

After exporting operations to Process Simulate, you can view time properties in the Time tab of the
Properties dialog. For information on how to access operation properties, see Operation Properties.

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 3D data

Note
The Allocated Time field in Process Simulate is read-only and is not uploaded when performing
Teamcenter Update.

In this example, Verified Time is read-only because it is the sum of its child operations. You can set these
as you wish. This data is uploaded to Teamcenter when performing Teamcenter Update and both the
Time tab and the activity root object in the Operation Activities tab are updated.

3D data

You can create 3D data in Teamcenter and export it to Process Simulate.

Procedure

1. Right-click the desired robot, resource, or part and select Open with → Attachments. The
Teamcenter Attachments view is displayed.

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 2. Click in the Attachments view and select File → New → Dataset and create a new dataset of the
Direct Model type.

3. Set Relation to Rendering and click OK.

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 After sending the data to Process Simulate (refer to Launch Process Simulate from MPP), you can model
it as required.

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2-42 Process Simulate on Teamcenter
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 Update Process Simulate

3. Getting Started
Update Process Simulate
If Siemens has issued an update to the version of Process Simulate you are running, the system displays
the

notification when you launch Process Simulate.

Note
This option displays when the Release updates settings in Tecnomatix Doctor is activated.

Download from Support Center

1. From Support Center Downloads

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Update Process Simulate

2. Click the Tecnomatix Release Update tile to display the zip file for download.

Note
You must enter your Support Center webkey to enable downloading the zip file.

Download from Process Simulate

To download the latest release updates, click the Download Now button from the Release Update
Available yellow strip under the Process Simulate ribbon.

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 Update Process Simulate

Note
The See the release update bulletin link opens this document.

Install the release updates

1. Unzip the update file to obtain the .exe file (example: Tecnomatix_Update_2402.0300.exe).
2. From the folder with the downloaded release update, double-click the downloaded .exe file. The
installation screen displays.

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Update Process Simulate

3. Click Install. The progress screen displays.

4. The Install Finish screen displays.

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 Update Process Simulate

5. Click Finish. The release updates are now installed.

6. After downloading and installing a release update, you can at any time Check for Updates

, available from the File ribbon. (The command is also available from the Customize
dialog box.)
7. You can reinstall the release update or repair the current release update that failed to install.

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Update Process Simulate

Install release update in silent mode

1. Download the latest update (example: Tecnomatix_Update_2402.0300.exe) from the Siemens

Support Center site. Alternatively, the update may have been downloaded when Process Simulate
was opened.
2. Unzip the update file to obtain the .exe file (example: Tecnomatix_Update_2402.0300.exe).
• First time installation mode
◦ START /WAIT <path to release update exe file> /silent. For example: START /WAIT
C:\TEMP\Tecnomatix_Update_2402.0300.exe /silent
• Repair mode
◦ Installs content in the current release update that failed to install. START /WAIT
<path to release update exe file> /silent ISFeatureInstall=TX. For example: START /WAIT
C:\TEMP\Tecnomatix_Update_2402.0300.exe /silent ISFeatureInstall=TX
• Reinstall mode
◦ Reinstalls all content of the current release update. START /WAIT <path to
release update exe file> /silent ISFeatureInstall=TX RELEASE_UPDATE_REINSTALL=TRUE. For
example: START /WAIT C:\TEMP\Tecnomatix_Update_2402.0300.exe /silent ISFeatureInstall=TX
RELEASE_UPDATE_REINSTALL=TRUE

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 Launch Process Simulate

Note
• The "START /WAIT" commands are optional and are used only to prevent the command line cursor
from moving to a new line before installation has completed.
• When running the setup a log file named Tecnomatix_Update_<Release update version>_Install.log
is created under %TEMP% folder (for example: %TEMP%\Tecnomatix_Update_2402.0300_Install.log).
This log file is overwritten in every setup execution.

Launch Process Simulate

Launch Process Simulate from MPP or from the desktop

You can launch Process Simulate either from the Teamcenter → MPP application or directly from your
desktop.

Note
Java Runtime Environment (JRE) is required before installing Process Simulate.

Make sure that the Java environment parameters are correct:

• For Windows 64 bit

JAVA_HOME= C:\Program Files\Java\jre<version> (or where it was installed)
• For Windows 32 bit
JAVA_HOME= C:\Program Files (x86)\Java\<version> (or where it was installed)

• It is recommended to deploy the Teamcenter Manufacturing Access solution to enable use of Process
Simulate from the desktop and the Study Manager in MPP.
• To enable full authoring capabilities for a study, check it out before loading it.
By default, Modifications require study check out is set in the Process Simulate on Teamcenter tool
of the Tecnomatix Doctor, thus when opening a study that you have not checked out, Process Simulate
prompts you to check it out. Alternatively, you can open a read-only copy for review.

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Launching Process Simulate from Teamcenter MPP

You can use the Teamcenter Update command to save changes in the study to the Teamcenter server.
However, if the study is not checked out, you can make changes but the update command is disabled
and you cannot save them to the server or to a disconnected psz-tc file.
• Single Sign On - SSO. When accessing Process Simulate from MPP or from your desktop, Teamcenter
first authenticates your user name and password, and opens the Teamcenter Security Agent in the
background. As long as this window remains active, Teamcenter enables you to launch additional
instances without requiring further authentication. This is known as SSO - Single Sign On.

Launching Process Simulate from Teamcenter MPP

After accessing Teamcenter, open the MPP application.

Procedure

1. Right-click the desired Collaboration Context (CC) and click Open with → Study Manager.

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 The Study Manager opens, displaying its nested studies.

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 2. Click Open in Standard mode or Open in Line Simulation mode to send the specified
study to Process Simulate.
3. Alternatively, if you are working in MPP, for example, you created a new empty study in the Study
Manager and are now adding items to it in MPP, right-click the desired study in MPP and select
Open with Process Simulate or Open with Process Simulate in Line Simulation mode to send the
specified study to Process Simulate.

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 The study opens in Process Simulate.

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Launching Process Simulate from the desktop

Launching Process Simulate from the desktop

Verify the following before launching Process Simulate from the desktop:

• Teamcenter Manufacturing Access solution (which includes the Study Manager) is installed on the
Teamcenter server.
• The FMS_HOME environment variable exists and points to the TCCS installation folder.
• The Change Teamcenter Server dialog box in the Tecnomatix Doctor indicates the correct address of
the Teamcenter server.

If necessary, contact your Teamcenter administrator.

1. Click the PS on TC icon on your desktop.

The Login to Teamcenter dialog box appears.

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 Launching Process Simulate from the desktop

2. Enter your Teamcenter credentials and click OK.

Note
Users who are part of different groups and have several roles can specify a Group and Role in the
Login dialog to ensure they have the required access rights for the current Teamcenter session.

The Study Manager opens.

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Launching Process Simulate from the desktop

Note
For details of the relevant Study Manager release, refer to the Easyplan Teamcenter
Manufacturing Access documentation.

3. Select or search for the desired Collaboration Context (CC) and select a study.

4. Click Open in Standard mode or Open in Line Simulation mode .

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 Launch Process Simulate on Teamcenter Standalone

The study opens in Process Simulate.

Launch Process Simulate on Teamcenter Standalone

Using Process Simulate Standalone to Work Locally

It is sometimes necessary to run Process Simulate on Teamcenter when no permanent connection to

Teamcenter is available. Process Simulate on Teamcenter Standalone can run a local instance of your
study/process data (.psz-tc file) without being connected to the Teamcenter server. After completing your
Standalone session, you can save your data, run Process Simulate on Teamcenter (when a connection
becomes available), open the .psz-tc file, and update its changes back to Teamcenter.

Process Simulate Standalone supports all the features of Process Simulate except for the following:

• Server commands
• Retrieve Detailed Representation
• Public Layout
• Movie Manager
• Properties Viewer

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 Working with Disconnected Studies

Procedure

1. Create the disconnected studyWith Process Simulate on Teamcenter (connected): use Save/Save as
commands to save the loaded data in a file with the .psz-tc extension.
2. Work offlineLaunch Process Simulate on Teamcenter Standalone and open the disconnected study
with Open in Standard Mode/Line Simulation Mode to enhance the data scope without needing to
be connected to Teamcenter. Alternatively, you can double-click the relevant psz-tc data file.
3. Supplement the disconnected study with more Teamcenter objectsUse Process Simulate on
Teamcenter (connected) to load the disconnected data (.psz-tc file) and use the commands on
the Server ribbon to update Teamcenter objects in the study, such as resources, parts and
Mfgs. Then use Save to update the disconnected study. In this mode, only the disconnected

data is updated. See also this video that demonstrates how to add resources to a
disconnected study.
4. Update Teamcenter with the disconnected studyWith Process Simulate on Teamcenter
(connected): load the disconnected data (.psz-tc file) using Open in Standard Mode/Line Simulation
Mode, review the data and perform Teamcenter Update.

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Process Simulate user interface
This section describes the tabs and ribbons, status bar and default keyboard shortcuts available in Process
Simulate.

With new UX advances in this version, hovering the mouse from one object to another in the Graphic
Viewer highlights each subsequent object with a selection preview color as the previous object returns
to its non-highlighted color. In addition, while hovering an object, the system displays a new pick intent
preview marker on the object, according to the designated pick level and intent.

When users click to actually select the object, the preview color changes to the selection color, and the pick
selection marker icon changes.

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Ribbon

Users can modify the Preview color and Selection color in Appearance tab.

With Process Simulate's object-oriented interface, you must first select the object(s) that you want to work
on in order to activate the required options. Objects are selected in the Viewers and options are accessible
through menus, toolbars, ribbon bar tabs, and right-click context menus.

You can resize a viewer by dragging on its border. You can close a viewer completely by clicking in the top
right corner of the viewer. To redisplay a viewer, choose View tab → Screen Layout group → Viewers and
then the required viewer.

See Load study to open a study.

Ribbon

The ribbon is displayed beneath the title bar, and is comprised of Process Simulate commands grouped in
tabs.

Process Simulate also includes many different context menus, displayed by right-clicking various items in
the Process Simulate window. The content of each context menu varies according to the selected item, and
in which viewer these are selected.

Ribbons and context menus can be customized to fit individual and organizational requirements, as
described in Customize.

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 Ribbon

Note
As there is not enough room on the ribbon for all the commands, many of them are documented in
Additional commands, and others within the relevant sections of this guide. They can be recognized by
the rubric Choose <command name>.

Display the ribbon on multiple monitors

By default, the ribbon appears on one monitor even if you are running Process Simulate on multiple
monitors.

To display the ribbon on multiple monitors:

1. Right-click an empty portion of the ribbon and set Show the Ribbon on All Displays.

2. Drag a viewer to the secondary monitor and dock it in place.

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Ribbon

In the following example, the ribbon is now visible on both monitors.

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 Ribbon

• The primary application window includes the Maximize or Restore icon in the top right corner

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Graphic Viewer toolbar

whereas all the secondary application windows do not.

• Minimizing/maximizing/closing the application by any of the icons in the top right corner affects all
application windows.
• Customizing the ribbon affects all application windows.
• Setting the Quick Access Toolbar to be above or below the ribbon in one of the application
windows affects only that window. But customizing its content affects all the application windows.
• Dragging the title bar of the primary application window towards one of the secondary application
windows, causes the two windows to swap positions.
3. To return to the default single ribbon, right-click an empty portion of the ribbon and clear Show the
Ribbon on All Displays.

Graphic Viewer toolbar

The Graphic Viewer toolbar is visible in the active Graphic Viewer (in case more than one viewer is
open), and by default it appears in the upper center of the viewer. Users can drag it anywhere within
the boundaries of the Graphic Viewer. It contains view-changing commands (such as Zoom, View Center,
etc.) as well as Pick Level, Measurements, Dimensions and other commands that manipulate objects in the
Graphic Viewer, such as the Placement Manipulator.

Note
The Graphic Viewer is displayed by default. You can keep it hidden by deselecting the Display viewer
toolbar check box in the Graphic Viewer tab.

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 Graphic Viewer toolbar

The Graphic Viewer Toolbar remains visible but dimmed until used:

In addition, positioning the cursor in the Graphic Viewer and pressing the keyboard Space bar opens a
three-segment Quick toolbar. It contains the most commonly used commands for pick and selection and
remains open as long as the Spacebar is still pressed.

The Toolbar ribbon can help to significantly reduce the frequency of mouse movements up and away from
the Graphic Viewer to the Ribbon area.

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Zoom to Selection

To do this, check Toolbar in the Customize dialog box.

Zoom to Selection

The Zoom to Selection option adjusts the image in the Graphic Viewer so that a selected object is
displayed in close-up. This option provides convenient close-ups of small selections.

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 Zoom to Fit

Zoom to Fit

The Zoom to Fit option adjusts the image in the Graphic Viewer so that all visible objects are displayed.

This option can conveniently reverse large changes effected by zooming and panning, and can determine if
the Graphic Viewer contains spurious objects located far away from the desired contents. Blanked objects
are ignored.

View Center

The View Center option enables you to select any point in the Graphic Viewer to be the view center. The
view center is the pivot point around which objects rotate. By default, the origin of the space constitutes
the view center.

Selecting a point in the Graphic Viewer and choosing Graphic Viewer Toolbar → View Center pans the
view to place the selected point at the center of the Graphic Viewer.

You can also press <Ctrl>+<Shift> while clicking the desired point.

For example, if the view center is the default and an object is located far from the space origin, attempting
to view different sides of the object by changing the eye position causes the object to sweep across the
display. If you set the view center on the object, changes in the eye position move the eye around the
object while the object appears to rotate on the display.

View Point

The View Point option determines the angle from which you view the image in the Graphic Viewer.
You can select from a range of specific angles. Observing objects from different angles can help to detect
problems with an assembly.

1. Go to Graphic Viewer Toolbar → Views group.

2. Select a view point.
The Graphic Viewer is updated to display its contents from the selected view point and the View
Point dialog box is closed.
The different view points are as follows:

Symbol View Point Description

Normal to View Point Sets the viewing point at
normal to the location you pick

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View Point

Symbol View Point Description

in the Graphic Viewer. The
current zoom is retained.
Back Changes the azimuth of the eye
position to 90° and the altitude
to 0°. This view looks toward
the origin along the positive Y-
axis in the negative direction.
To achieve the same effect from
the keyboard, press <Home>,
and either the left or right
arrow six times.
Top Changes the altitude of the
eye position to 90° and rotates
the view such that the X-axis
is horizontal and the Y-axis is
vertical. This view looks toward
the origin along the positive Z-
axis in the negative direction.
To achieve the same effect from
the keyboard, press <Home>,
and the up arrow three times.
Bottom Changes the altitude of the
eye position to 90° and rotates
the view such that the X-axis
is horizontal and the Y-axis is
vertical. This view looks toward
the origin along the negative
Z-axis in the positive direction.
To achieve the same effect from
the keyboard, press <Home>,
and the down arrow three
times.
Front Changes the azimuth of the
eye position to 270° and the
altitude to 0°. This view looks
toward the origin along the
negative Y-axis in the positive
direction. To achieve the same
effect from the keyboard, press
<Home>.
Right Changes both the azimuth and
the altitude of the eye position
to 0°. This view looks toward
the origin along the positive X-

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 View Point

Symbol View Point Description

axis in the negative direction.
To achieve the same effect from
the keyboard, press <Home>,
and the right arrow three times.
Left Changes the azimuth of the
eye position to 180° and the
altitude to 0°. This view looks
toward the origin along the
negative X-axis in the positive
direction. To achieve the same
effect from the keyboard, press
<Home>, and the left arrow
three times.
Q1 Places the eye in octant 1,
the +X +Y +Z octant, with an
altitude of 30° and an azimuth
of 30°. To achieve the same
effect from the keyboard, press
<Home>, the up arrow once,
and the right arrow four times.
Q2 Places the eye in octant 2,
the +X +Y +Z octant, with an
altitude of 30° and an azimuth
of 120°. To achieve the same
effect from the keyboard, press
<Home>, the up arrow once,
and the left arrow five times.
Q3 Places the eye in octant 3,
the +X +Y +Z octant, with an
altitude of 30° and an azimuth
of 210°. To achieve the same
effect from the keyboard, press
<Home>, the up arrow once,
and the left arrow twice.
Q4 Places the eye in octant 4,
the +X +Y +Z octant, with an
altitude of 30° and an azimuth
of 300°. To achieve the same
effect from the keyboard, press
<Home>, the up arrow once,
and the right arrow once. The
default view places the eye
position in octant 4 (Q4).

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Shaded Mode

Shaded Mode

The Shaded Mode option displays all objects in the Graphic Viewer as solid objects.

You can change the way all objects are displayed in the Graphic Viewer by choosing Graphic Viewer
Toolbar → Style group → Shaded Mode . All objects in the Graphic Viewer are shaded so as to appear
solid. Blanked objects which are subsequently displayed also appear in shaded mode.

Note
Pressing <F10> toggles between Shaded, Feature Lines over Solid, Feature Lines, and Wireframe
displays.

Feature Lines over Solid

The Feature Lines over Solid option displays a combination of Shaded Mode and black Feature Lines for
all objects in the Graphic Viewer.

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 Feature Lines

Note
Pressing <F10> toggles between Shaded, Feature Lines over Solid, Feature Lines, and Wireframe
displays.

Feature Lines

Users can display Feature Lines by pressing <F10> on the keyboard. This view is very useful for creating
documentation workflows that focus on the assembly process.

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Wireframe Mode

Note
• Pressing <F10> toggles between Shaded, Feature Lines over Solid, Feature Lines, and Wireframe
displays.
• Objects block the view of lines and objects located behind them.
• Silhouette Lines are always displayed.
• If a cylindrical object is not clearly visible, try reducing the minimal angle between feature lines and/or
increasing their thickness. For information on how to configure feature lines, see Graphic Viewer tab.

Wireframe Mode

The Wireframe Mode option displays all objects in the Graphic Viewer as wireframe objects.

You can change the way all objects are displayed in the Graphic Viewer by choosing Graphic Viewer
Toolbar → Style group → Wireframe Mode . All objects in the Graphic Viewer appear as wireframes.
Blanked objects which are subsequently displayed also appear in wireframe mode.

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 Wireframe Mode

Note
• Pressing <F10> toggles between Shaded, Feature Lines over Solid, Feature Lines, and Wireframe
displays.
• If an object is not clearly visible in wireframe mode in the Graphic Viewer, try various combinations of
the following:
◦ Enable Silhouette Lines.
◦ Set a lower angle for Feature line angle.
◦ Set a thicker Feature line width.

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Display by Type

For information on how to configure these parameters, see Graphic Viewer tab.

Display by Type

The Display By Type option enables you to select the type of loaded objects to display in the current view
in the Graphic Viewer.

1. Choose Graphic Viewer Toolbar → Visibility group → Display By Type .

The Display By Type list is displayed.

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 Display by Type

2. Select objects to display from the Display By Type list, as follows:

Icon Name Description

Show Selected Select one or more types and click this icon to display the selected
Types types (including those previously blanked).

Hide Selected Types Select one or more types and click this icon to hide the selected
types.

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Display by Type

Display Only Click this icon to display the selected types (including those
Selected Types previously blanked) and hide all other types.
Display All Click this icon to display all types (including those previously
blanked).
Hide All Click this icon to hide all types.

Delete Selected Click this icon to delete the selected types (including those
Types previously blanked).

Filter by Color This filter enables you to display and hide objects based on their
color. You can apply the color filter on all objects, or just objects of
one or more selected types.
1. From the pulldown menu.
2. Select one of the following:
• Full color match to select objects colored in the
selected color and no other colors.
• Partial color match to select objects partly colored
in the selected color and also colored in other colors.
3. Select a color from the color palette, refer to Modify Color.

Displaying and hiding types now only impacts objects

colored in the selected color.

Note
An eye-dropper color sampler allows you to select the filter
color according to a specific object in the Graphic Viewer.

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 Blank

Note
• When you display all objects in the Graphic Viewer, the relevant nodes in the trees are represented
by solid blue icons, indicating their displayed status. Refer to Blanking/Displaying Objects for more
information.
• The Display By Type command displays entities in all representations - Detailed, Modeling and
Preserve entities in United.

Blank

The Blank option hides a selected object or operation (including any attached notes) in the Graphic
Viewer. The object is not removed from the database or from the Object Viewer, and can be redisplayed
at any time.

You can blank an object or operation by selecting it in the Graphic Viewer, Object Viewer, or Object

Viewer and choosing Graphic Viewer Toolbar → Visibility group → Blank . The selected object or
operation is hidden in the Graphic Viewer and appears in the Object Viewer with an empty square to the
left of its name.

Tip
You can also blank and display objects and operations by clicking the square to the left of the item's
name to toggle between blanked and displayed . The square appears as when a compound operation
includes some blanked operations or a component includes some blanked entities.

Display

The Display option returns a blanked object or operation to its visible state.

You can redisplay a blanked object or operation by selecting it in the Object Viewer and choosing Graphic

Viewer Toolbar → Visibility group → Display . The blanked object or operation is displayed in the
Graphic Viewer and appears in the Object Viewer with an empty square to the left of its name. When an
object or operation is displayed in the Graphic Viewer, it appears in the Object Viewer with a solid square .

Display All

The Display All option displays all the objects contained in the engineering data in the Graphic Viewers,
including objects that were blanked previously.

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Display Only

You can display all the objects in the engineering data in the Graphic Viewer by choosing Graphic Viewer
Toolbar → Visibility group → Display All . All objects, including those blanked previously, are displayed
in the Graphic Viewer and appear in the Object Viewer with a solid square .

Display Only

The Display Only option displays only the selected objects in the Graphic Viewer and hides all other
objects in the engineering data.

Note
You select multiple objects by holding down the <Ctrl> key and clicking the required objects, either in
the Graphic Viewer or Object Viewer.

You can display a specific object in the Graphic Viewer by selecting the object in the Graphic Viewer or the
Object Viewer and then choosing Graphic Viewer Toolbar → Visibility group → Display Only . The
selected object is displayed by itself in the Graphic Viewer; all other objects are blanked.

You can redisplay individual objects as required or display all the objects in the engineering data.

Toggle Display

The Toggle Display option alternates the display in the Graphic Viewer between blanked and displayed
objects.

Pick Level

Select the Pick Level (Component or Entity), as follows:

• End Item: The closest visible end item ancestor of the picked object is selected.

• Component: The entire component is selected when any part of it is selected. Picking an unexposed
End Item at Component level selects the entire End Item.
◦ Whole Component — with all components only the whole object can be selected.
◦ Engineering Data — each object can be selected independently (i.e., a frame, cross section, note
flag, dimension, etc.).

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 • Entity: Only the entity (that is, part of the whole component) is selected. Here is what can be
selected: Picking an unexposed End Item at Entity level selects the entire End Item.
◦ Whole Component — with non-kinematic components only the whole object can be selected.
◦ Kinematic Link — on Kinematic components, each link can be selected independently (i.e., on a
human, the arm and hand separate kinematic links).
◦ Engineering Data — each object can be selected independently (i.e., a frame, cross section, note
flag, dimension, etc.).

• Surface: Only the surface is selected.

• Edge: Only the edge is selected.

Pick Intent

Click one of the following Pick Intent icons to determine the precise point on an object when you click it:

• Snap: Selects a vertex, the center of an edge or the center of a face, whichever is closest to
the actual point clicked. This is the default Pick Intent. This option is very useful when measuring the
distance between two objects in the Graphic Viewer with the Minimal Distance command.

• Self-Origin: This is the only Pick Intent that depends on the setting of the Pick Level. If the pick
level is set to component, then the self-origin of the component is always selected, no matter where
the object is picked. If the pick level is set to entity, then the self-origin of the currently picked entity is
selected.

• On Edge: Selects the point on the edge that is closest to the actual point clicked.

• Where Picked: Selects the point that is actually clicked.

Selection Type

The Selection Type option is an editing tool that enables you to filter the entities displayed in the Graphic
Viewer by object type.

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Selection Type

Filters can be applied either by selecting suboptions from the Selection option, or by using the buttons
from the Selection toolbar, as described below. You can select multiple filters, as required.

Button Filter Type Description

Select with Filter Enables the filtering options.

Select All Selects all the objects in the

Graphic Viewer that are relevant
to the filter selected.
Select Type Part Selects parts only.

Select Solids/Surfaces Selects solids and/or surfaces

only.
Select Type Resource Selects resources only.

Select Type Frames Selects frames only.

Select Type Global Locations Selects global locations only.

Select Type Lines/Curves Selects lines and/or curves only.

Select Type Mfg Selects manufacturing features

only.
Select Type Notes Selects notes only.

Select Type Path Selects paths only.

Select Type PMI Selects PMIs only.

Select Type Points Selects points only.

Select Type Weld Points Selects weld points only.

Select Type All Selects all the filters, meaning all

entities in the Graphic Viewer are
selected.
Select Type None Deselects all the filters, meaning
no entities in the Graphic Viewer
are selected.

1. Choose Graphic Viewer Toolbar → Selection group → Selection Filter .

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 Placement Manipulator

2. Select the required filter or filters, for example, Selection Type Mfg.

Note
You can now manipulate the selected objects, as required. For example, you can either blank the
selected objects, or display only the selected objects.

To select all the objects in the Graphic Viewer, choose the Select All filter.

Placement Manipulator

This video demonstrates how to position objects using the Fast placement, Placement manipulator, and
Relocate commands.

Note
Videos are not included in PDF. To access videos, use HTML.

The Placement Manipulator tool enables you to move objects along the X-, Y- or Z-axes and rotate objects
on the Rx-, Ry- or Rz-axes.

Procedure

1. Select an object (or objects), either in the Graphic Viewer or Object Viewer or a group. If you select
an entity, the Placement Manipulator opens on the component of the entity. If a component is in
Modeling mode, the Placement Manipulator opens on the entity itself.

Note
You can select multiple objects by holding down the <Ctrl> key and selecting the required objects
in the Object Viewer, or by dragging a selection box around the required objects in the Graphic
Viewer while in Select mode.

2. Choose Graphic Viewer Toolbar tab → Placement Manipulator.

The Placement Manipulator dialog box is displayed and a Manipulator frame with arcs appears at
the center of the selected object.

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 By default, the X-axis is active and this is shown by the white dashed line that indicates where you
can move the manipulated object. Other objects (not being manipulated) in the view are dimmed.

The Dimming Mode command enables you to control dimming of objects when using the
Placement Manipulator.
• Toggle the command on or off to activate or deactivate dimming.
• Click the arrow in the Dimming Mode icon and set Color Dimming Mode to use color dimming as
shown in the above example. This is the default mode.
• Click the arrow in the Dimming Mode icon and set Gray Dimming Mode to use gray dimming as
shown in the following example.

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 The following figure shows how you can rotate the manipulated object when selecting an arc.

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 3. Move the selected object along the X-, Y- or Z-axes in any of the following ways:

Tip
You can change the step size by clicking the Step size hyperlinks and specifying a new step size.

• In the Translate area, select X, Y or Z and click to move the object one step forward, or click to
move the object one step backward along the selected axis.
• In the Translate area, select X, Y or Z and enter a new translation value.

• In the Translate area, select X, Y or Z and click to move the object forward until it collides, or
click to move the object backward until it collides along the selected axis.
• In the Graphic Viewer, select the X-, Y- or Z-axis of the placement manipulator. When your mouse
touches (or comes close to) the desired axis, the axis is extended and displayed in yellow together
with a white dashed line. The active element of the placement manipulator is displayed and all the
other elements (except the origin) are hidden. Keeping the mouse button pressed, drag the object
to the required position on the selected axis or enter a translation value in the box appended to the
selected axis.

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 When you release the axis, the whole placement manipulator is displayed again at the new
position.
4. Rotate the selected object about the Rx-, Ry- or Rz-axes in one of the following ways:
• In the Rotate area, select Rx, Ry or Rz and click to rotate the object one step clockwise, or click
to rotate the object one step counterclockwise about the selected axis.
• In the Rotate area, select Rx, Ry or Rz and enter a new rotation value.

• In the Rotate area, select Rx, Ry or Rz and click to rotate the object clockwise about the
selected axis until it collides, or click to rotate the object counterclockwise until it collides. Note
that a collision may be a near miss, contact, or penetration, depending the definitions in the
Collision tab.
• Select the X-, Y- or Z-arc of the placement manipulator. When your mouse touches (or comes close
to) the desired arc, the arc is displayed in yellow.

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 After clicking the arc, the active element of the placement manipulator is displayed and all the
other elements (except the origin) are hidden.

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 Keep the mouse button pressed and drag the object to rotate it. Use the origin of the axes
(currently this appears as a ball) as a guide as it moves along the dashed line representing the arc
of rotation.
or
Enter a rotation value in the box appended to the selected arc.

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 When you release the arc, the whole placement manipulator is displayed again.
5. Move the selected object in one of the XY, XZ, or YZ-planes as follows:
In the Graphic Viewer, select a plane of the placement manipulator.

When your mouse touches (or comes close to) the desired plane, the plane symbol changes from a
triangle to a square.

Click and drag the plane to move the component. Only the active plane is displayed while all the
other components of the placement manipulator (except the origin) are hidden.

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 When you release the plane, the whole placement manipulator is displayed again at the new position.

Note
If you prefer not to use the plane handles, you can hide them by clearing Display manipulator
plane handles in the Graphic Viewer tab.

6. Select a frame from the Frame of Reference dropdown list around which the object is moved or
rotated. The options are as follows:
• Self: The self-origin frame of the object. This is the default.
• Geometric center: A reference frame positioned at the geometric center of the object. When
multiple objects are selected, the geometric frame is located at the geometric center of a bounding
box enclosing all of the objects.
• Working frame: A reference frame for all the objects in the engineering data. The Working frame
is created when new data is created.

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 Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next to

the Frame of Reference button and specifying the location of the frame using one of the
four methods available.
If you select any of the three frames from the list, it is persisted in the next session. If you select a
frame not on the list, it is not persisted, and the dialog box opens with the default Self frame next
session.

7. By default, Initial manipulator position is set to Reference frame. This means that when the
Placement Manipulator dialog box opens, the Placement Manipulator is positioned at the frame
indicated by Frame of Reference. You can change this to one of the following:
• The Self frame of the object being manipulated.

• The Geometric center of the object being manipulated.

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 • Any object or location you pick in a system viewer.

• The Working frame of the scene.

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 8. To measure the location of the object relative to different frames, click Expand .
The Placement Manipulator dialog box is expanded:

The exact location of the frame of reference of the selected object is specified in the table.
9. Select a frame from the Location relative to dropdown list. The measurements displayed are relative
to the selected frame.
10. If required, select Snap by step size to specify movement or measurement of the object in step size
only.
The Manipulated Objects table lists all the objects currently being manipulated by the Placement
Manipulator.

Note
Click Collapse if you want to collapse the expanded dialog box.

11. Click Reset to return the object to the position it was in when the Placement Manipulator dialog box
was opened, or click Close to close the Placement Manipulator dialog box.

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 Relocate

Relocate

This video demonstrates how to position objects using the Fast placement, Placement manipulator, and
Relocate commands.

Note
Videos are not included in PDF. To access videos, use HTML.

The Relocate tool enables you to relocate an object to an exact location. You can place an object so that it
maintains its original orientation or place an object so that it takes on the target frame orientation.

If you select an entity, Relocate opens on the component of the entity. If a component is in Modeling
mode, Relocate opens on the entity itself.

Note
The Relocate option is only enabled when an object is selected.

Procedure

1. Choose Graphic Viewer Toolbar tab → Pick Level group → Component.

2. Select an object (or objects), either in the Graphic Viewer or Object Viewer or a group in the Object
Viewer. If you select an entity, Relocate opens on the component of the entity. If a component is in
Modeling mode, Relocate opens on the entity itself.

Note
You can select multiple objects by holding down the <Ctrl> key and selecting the required objects
in the Object Viewer, or by dragging a selection box around the required objects in the Graphic
Viewer while in Select mode.

3. Choose Graphic Viewer Toolbar tab → Relocate .

The Relocate dialog box is displayed:

The name of the selected object is displayed in the Object field.

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 4. From the From frame dropdown list, select the reference frame on the selected object that will be
positioned on the target frame (selected in the To Frame field) in one of the following ways:
• Selecting Frame by Six Values
• Selecting Frame by Circle Center
• Selecting Frame by Three Points
• Selecting Frame Between Two Points
If the first object is set for modeling, the From frame dropdown list now includes (in addition to
Self, Geometric Center and Working Frame) all frames of the first object that is being relocated. If it
is not being modeled, the list only shows its preserved frames.
The selected reference frame is displayed on the object in the Graphic Viewer.

Note
The Self frame is the default reference frame and is displayed on the selected object when the
Relocate dialog box opens. If you select any of the three frames from the list, it is persisted in the
next session. If you select a frame not on the list, it is not persisted, and the dialog box opens with
the default Self frame next session.

5. From the To frame dropdown list, select the target frame on which to position the reference frame
selected for the object, in one of the following ways:
• Selecting Frame by Six Values
• Selecting Frame by Circle Center
• Selecting Frame by Three Points
• Selecting Frame Between Two Points
The target frame is displayed in the Graphic Viewer with a line connecting the reference and target
frames.
6. Select one of the following checkboxes to further manipulate the relocate operation, as required:
• Select Copy Object(s) to relocate a copy of the object under its direct parent and leave the selected
object in its original position.
• Select Maintain orientation to move the selected object the linear distance from the reference
frame to the target frame without changing its orientation. If you do not select this checkbox, the
object will adopt the orientation of the target frame (selected in the To Frame field).
• Select Translate only on to limit movement to a selected axis or axes. You can select X, Y and Z to
limit the movement as follows:
X: The object matches the X-axis position of the target frame.
Y: The object matches the Y-axis position of the target frame.
Z: The object matches the Z-axis position of the target frame.
7. Click Apply. The selected object moves as specified so that the selected reference frame matches the
target frame.

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 Select a frame by six values

8. Continue in one of the following ways:

• Click Reset to return the relocated object to its original position.
• Click Flip to flip the relocated object and reverse its Z-axis direction.
• Click Close to close the Relocate dialog box.

Select a frame by six values

Selecting a frame by six values enables you to specify the exact location of a frame of reference or target
frame for the Relocate tool by specifying the X-, Y- and Z-axes and the rotational X-, Y- and Z-axes.

Procedure

1. In the Relocate dialog box, click the dropdown arrow to the right of Create Frame of Reference in
the From frame or To frame fields.
The following menu is displayed:

2. Select Frame by 6 values.

The button in the From frame or To frame field appears as follows: , and the Location dialog box
is displayed.

3. Specify the position and orientation of the frame in the X, Y, Z, Rx, Ry and Rz fields.
The location of the frame is dynamically reflected in the Graphic Viewer.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

4. Click OK. The specified frame is the selected frame of reference (From frame) or target frame (To
frame) for the Relocate operation.

Select a frame by circle center

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 Selecting a frame by circle center enables you to specify the exact location of a frame of reference or target
frame for the Relocate tool by specifying any three points on the circumference of a circle. The center
of the circle is automatically calculated. This is useful if you want to relocate a circular component for
example, a cone shape to the top of a cylindrical shape.

Procedure

1. In the Relocate dialog box, click the dropdown arrow to the right of Create Frame of Reference in
the From frame or To frame fields.
The following menu is displayed:

2. Select Frame by circle center.

The button in the From frame or To frame field appears as follows: , and the Circle Center by 3
Points dialog box is displayed.

3. Specify three points on the circumference of the circle, by selecting the points in the Graphic Viewer
or by specifying the X-, Y- and Z-axis position for each point in the Circle Center by 3 Points dialog
box. The center point of the circle is defined automatically. The location of the frame is dynamically
reflected in the Graphic Viewer. The orientation of the frame will be such that the Z-axis will be
perpendicular to the plane defined by the three points and the frame's X-axis will be in the direction
of the first point.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

4. Click OK. The specified frame is the selected frame of reference (From frame) or target frame (To
frame) for the Relocate operation.

Select a frame by three points

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 Selecting a frame by three points enables you to specify the exact location of a frame of reference or
target frame for the Relocate tool by specifying any three points. This is useful if you want to relocate
components on a flat plane.

Procedure

1. In the Relocate dialog box, click the dropdown arrow to the right of Create Frame of Reference in
the From frame or To frame fields.
The following menu is displayed:

2. Select Frame by 3 points.

The button in the From frame or To frame field appears as follows: , and the Frame by 3 Points
dialog box is displayed.

3. Define a plane by selecting three points in the Graphic Viewer or by specifying the X-, Y- and
Z-coordinates for three points in the Frame by 3 Points dialog. The first point determines the origin
of the frame, the second point determines the X axis position and the third point determines the
Z-axis position. The location of the frame is dynamically reflected in the Graphic Viewer.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

4. Click OK.The specified frame is the selected frame of reference (From frame) or target frame (To
frame) for the Relocate operation.

Select a frame between two points

Selecting a frame between two points enables you to specify the exact location of a frame of reference or
target frame for the Relocate tool by specifying a distance between two specific points. This is useful if you
want to relocate components midway between two points.

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 Procedure

1. In the Relocate dialog box, click the dropdown arrow to the right of Create Frame of Reference in
the From frame or To frame fields.
The following menu is displayed:

2. Select Frame Between 2 Points.

The button in the From frame or To frame field appears as follows: , and the Frame Between Two
Points dialog box is displayed.

3. Define a segment by selecting two points in the Graphic Viewer or by specifying the coordinates for
two points in the Frame Between Two Points dialog box.
4. Define the distance between the two specified points at which the frame is created in one of the
following ways:
• Drag the slide bar.
• Manually enter a value in the text box.
• Specify the required distance using the up and down arrows.

Note
By default, the distance is midway between the two specified points.

The location of the frame is dynamically reflected in the Graphic Viewer.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

5. Click OK. The specified frame is the selected frame of reference (From frame) or target frame (To
frame) for the Relocate operation.

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 Location Manipulator

Location Manipulator

The Location Manipulator option is a path editing tool that enables you to adjust the positions of via and
weld locations. It is useful when you wish to adjust a number of locations together, even if they are of
different types.

If you launch Location Manipulator after selecting a single location, the system launches the Location
Manipulator in single location mode, see procedure below.

If you launch Location Manipulator after selecting two or more locations, the system launches the
Location Manipulator in multiple location mode, see procedure below.

Note
In Line Simulation, only multiple location mode is used (even when a single location is selected).

The following location locks are deactivated in Line Simulation:

• Limit locations manipulation according to options

• Manipulate to maximum allowed limitation
• Actions on locations - Reset absolute location
• Actions on locations - Snap to maximum allowed
• Show location limitations in graphics

To manipulate a single location:

Procedure

1. In the Graphic Viewer or Object Viewer, select a single location and choose Graphic Viewer Toolbar
→ Location Manipulator .
The Location Manipulation dialog box appears.

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 The Location field displays the name of the selected location.

2. Use the buttons to navigate between the locations in the current operation.
3. Set the Frame of reference to one of the following:
• Relative to its own self frame - The location is manipulated relative to its own self frame. This is
the default setting.
• Relative to its original projection - The location is manipulated relative to its original projection.
This option is only activated for seam location and weld location operations, and is useful when the
orientation of location operations has been modified and you wish to move all the locations by the
same distance.
• Relative to - The location is manipulated relative to a single frame. By default, the working frame is
used as the frame of reference but you can override this by selecting any other frame. If you select
an object, the object’s self frame is used.
4. Optionally, click the Step Size link to set the step size when manipulating the location.
5. By default, Rotation is selected. Click Rx, Ry, or Rz to select the axis around which to perform
rotation.
or
Use the Select Axis button to select either Perpendicular, Movement, or Third axis as the rotation
axis.

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 Note
For seam locations select either Normal, Movement, or Third axis as the rotation axis.

6. Move the slider, set a numeric value, or click the arrows to perform rotation of the selected location.
7. If you wish to move the location, select Translation.
8. Click X, Y, or Z to select the direction in which to move the location.

Note
If you click the Select Axis button when performing translation, only the Normal option is
available.

9. Move the slider, set a numeric value, or click the arrows to move the selected location.

Note
For unlimited locations, for example, when translating via locations, moving the slider to the end of
its range resets the slider to its middle position but modifies its range.

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 10. You can also perform the following actions on locations:

• Reset Absolute Location - Resets the absolute locations of the selected locations to their
rotation and translation values as when they were projected.

• Snap to Maximum Allowed - If locations have exceeded their maximum values, this function
sets the exceeded value to its maximum allowed value.

• Flip Locations - Enables flipping weld locations on a surface 180 degrees around their
approach axes. The approach axis is defined in Weld tab. Alternatively, you can flip weld locations
on solids and specify the parts that are included in the flip.

11. Click Show Location Limits in Graphic Viewer if you wish the Graphic Viewer to display a
cone-shaped icon representing the allowed deviation limits for the location.

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 12. If you are not satisfied with the changes you made, click Reset to return all the selected locations to
their original state prior to launching Multiple Locations Manipulation.
13. Click Follow mode to place the robot at the selected location (where the manipulator is). This
changes the pose of the robot and adds further limitations to the location. The movement of the
location is limited by the movement of the robot.If the robot cannot reach the location, a ghost gun is
created and placed at the location with no further limitations.

To manipulate multiple locations:

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 Procedure

1. Select two or more locations and choose Operation tab → Edit Path group → Location Manipulator
.
The Multiple Locations Manipulation dialog box appears.

Note
The Multiple Locations Manipulation dialog box also appears if no locations are selected when
you launch the command.

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 2. If you preselected locations before launching the command, they are listed in the Locations list. If
you did not, click in the Locations list and select locations from one of the viewers. When you click a
location in the Locations list, the Graphic Viewer displays a manipulator for the selected location.
3. In the Translate area, select the axis along which you wish to translate the locations and enter a
translation value.
or
Click Apply axis and select an axis by its role and location. The system automatically selects the
correct axis (X, Y, or Z).
The value you enter is added to the current value for each of the locations and the system calculates
new positions for each location. You can also click the arrows beside the translation value to
increment or decrement it. If the step size is not suitable, click Step size and adjust it.

Note
You can also use the manipulator in the Graphic Viewer to perform translation.

4. In the Rotate area, select the axis about which you wish to rotate the locations and enter a rotation
value.
or
Click Apply axis and select an axis by its role and location. The system automatically selects the
correct axis (Rx, Ry, or Rz).
The value you enter is added to the current value for each of the locations and the system calculates
new positions for each location. You can also click the arrows beside the rotation value to increment
or decrement it. If the step size is not suitable, click Step size and adjust it.

Note
You can also use the manipulator in the Graphic Viewer to perform rotation.

5. Set the Frame of Reference to one of the following:

• Each location relative to its own self frame - Each location is manipulated relative to its own self
frame. This is the default setting.
• Each location relative to its original projection - All seam location and weld location operations
are manipulated, each relative to its original projection. This is useful when the orientation of
location operations has been modified and you wish to move all the locations by the same
distance. All operations which do not have a projected location are manipulated, each one relative
to its self frame.
• All locations relative to: - All the selected locations are manipulated relative to a single frame. By
default, the working frame is used as the frame of reference but you can override this by selecting
any other frame. If you select an object, the object’s self frame is used.
6. By default, Limit locations manipulation according to options is checked. Clear this checkbox if you
wish to ignore system limitations. For further information on weld points, refer to Weld tab or for
more information about continuous limitations, refer to Continuous tab.

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 7. If Limit locations manipulation according to options is checked, Manipulate to maximum
allowed limitation is activated. Checking this option instructs the system to move locations to
the maximum allowed position without exceeding the system limitation. If the checkbox is cleared,
locations that would exceed system limitations remain in their original positions.
It is possible that some of the new locations' positions and orientations may not be valid. The Status
column in the Locations list of the Multiple Locations Manipulation dialog box displays one of the
following statuses for each location:

• — The system has moved the location according to the instruction.

• — The system has not moved the location - it remains in its original position. This can only
occur when Limit locations manipulation according to options is checked.

• — The system has moved the location as far as possible but a system limitation prevents full
implementation of the instruction. This can only occur when Manipulate to maximum allowed
limitation is checked.
8. You can also perform the following actions on locations:

• Reset Absolute Location - Resets the absolute locations of the selected locations to their
rotation and translation values as when they were projected.

• Snap to Maximum Allowed - If locations have exceeded their maximum values, this function
sets the exceeded value to its maximum allowed value.

• Flip Locations - Enables flipping weld locations on a surface 180 degrees around their
approach axes. The approach axis is defined in Weld tab. Alternatively, you can flip weld locations
on solids and specify the parts that are included in the flip.

9. Click Show Location Limits in Graphic Viewer if you wish the Graphic Viewer to display a
cone-shaped icon representing the allowed deviation limits for the location.

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 10. If you are not satisfied with the changes you made, click Reset to return all the selected locations to
their original state prior to launching Multiple Locations Manipulation.
11. Click Close to apply your changes and close the dialog box.
12. Click Follow mode to place the robot at the selected location (where the manipulator is placed). This
changes the pose of the robot and adds further limitations to the location. The movement of the
location is limited by the movement of the robot.If the robot cannot reach the location, a ghost gun is
created and placed at the location with no further limitations.

Note
When the selected location comes within the robot's reach, the ghost gun disappears and the robot
jumps to the selected location. The movement of the location is limited by the movement of the robot.

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Measurements

Measurements

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 Measurements

Measurements

The Measurements option includes dialog boxes enabling you to measure distances between components
- the dialog box displays the result of the measurement. Additionally, the Dimensions command enables
you to create persistent dimensions in the Graphic Viewer. It includes the following tools:

Button Tool Description

Minimal Distance Opens the Minimal Distance
dialog box, enabling you to
measure the minimal distance
between two components. Refer
to Measure Minimal Distance.
PTP Distance Opens the Point To Point
Distance dialog box, enabling
you to measure the distance
between specified points on two
components. Refer to Measure
Point-to-Point Distance.
Linear Distance Opens the Linear Distance
dialog box, enabling you to
measure the linear distance
between two parallel faces or
edges. Refer to Linear Distance.
Angular Distance Opens the Angular Distance
dialog box, enabling you to
measure the angle between two
intersecting faces or edges. Refer
to Angular Measurement.
Curve Length Opens the Curve Length dialog
box, enabling you to measure the
length of a curve. Refer to Curve
Length.
Angle by 3 Points Opens the Angle by 3 Points
dialog box, enabling you to
measure the angle between two
vectors by specifying a center
point and two other points. Refer
to Measure Angle by Three
Points.
Change Color The Change Color icon is
contained in all of the above
dialog boxes, enabling you to
easily set the color of the

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Measurements

Button Tool Description

measurement lines you create
after changing the color.
Copy to Clipboard The Copy to Clipboard icon is
contained in all of the above
dialog boxes, enabling you to
copy all measurements from
any of the measurements dialog
boxes to the Clipboard and paste
them anywhere.

You can change the color and size of the dimension and measurement text in Appearance tab.

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 Measure minimal distance

Measure minimal distance

The Minimal Distance tool enables you to measure the minimal (or shortest) distance between two
components in the Graphic Viewer.

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 Note
• Use the Minimal Distance option when you are working in the New Section Viewer.
• The minimal distance can be measured between objects in all pick levels - Component, Entity, Face,
or Edge.

Procedure

1. Choose Graphic Viewer Toolbar → Measurements group → Minimal Distance .

The Minimal Distance dialog box is displayed:

2. Select the first object, either in the Graphic Viewer or Object Viewer. The name of the selected
object is displayed in the First Object field and the coordinates of the object are displayed below.
3. Select the second object, either in the Graphic Viewer or the Object Viewer. The name of the selected
object is displayed in the Second Object field and the coordinates of the object are displayed below.
4. Click Create Dimension.
A distance line connecting the two objects appears in the Graphic Viewer. The exact distance
between the two objects is calculated automatically and displayed in the Distance field and the
vector distance is displayed below. The Result area of the dialog box displays the vector distance (dX
is the X value of the second object minus the X value of the first object, dY is the Y value of the
second object minus the Y value of the first object, and dZ is the Z value of the second object minus

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 Measure point to point distance

the Z value of the first object). If you checked Show XYZ delta in the Graphic Viewer, delta distance
lines (dX in red, dY in green, and dZ in yellow) are also displayed.

Note
Alternatively, you can select the first object, and select Minimal Distance to display the Minimal
Distance dialog box. The selected object is displayed in the First Object field. Click in the Second
Object field and select the second object in the Graphic Viewer or the Object Viewer.
By default, the system does not measure to frames and points that intervene between two objects
selected for minimal distance measurement. To measure to or from a frame or point, select it
as the first or second object in the Minimal Distance dialog box. Frames and points are excluded
from the component geometry unless you specifically select these entities for the minimal distance
calculation.

5. Click Close to close the Minimal Distance dialog box.

Measure point to point distance

The Point to Point Distance tool enables you to measure the exact distance between selected points on
two objects in the engineering data. The points can be on the same object, on different objects, or at any
location.

1. Choose Home tab → Pick group → Component .

2. Choose Graphic Viewer Toolbar → Measurements group → Point to Point Distance .

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Measure point to point distance

The Point to Point Distance dialog box is displayed:

3. Click a point on the first object in the Graphic Viewer or Object Viewer .
The name of the object where the point is located and its exact location are displayed in the First
Object field.
4. If required, fine-tune the location of the point by adjusting the X-, Y- and Z-coordinates with the up
and down arrows displayed when you click one of the coordinates.

Note
If you are not measuring the point to point distance between entities or components, it is
recommended to create a frame in the required location in order to measure the point to point
distance.

5. Click a point on the second object in the Graphic Viewer.

The name of the object where the point is located and its exact location are displayed in the Second
Object field.
6. Click Create Dimension.
A point to point dimension connecting the two points appears in the Graphic Viewer. The exact
distance between the two points is calculated automatically and displayed in the Distance field and
the vector distance is displayed below. The Result area of the dialog box displays the vector distance
(dX is the X value of the second object minus the X value of the first object, dY is the Y value of the

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 Measure linear distance

second object minus the Y value of the first object, and dZ is the Z value of the second object minus
the Z value of the first object). The Result area also displays the rotation delta difference for each of
the X, Y, and Z-axes. If you checked Show XYZ delta in the Graphic Viewer, delta distance lines (dX
in red, dY in green, and dZ in yellow) are also displayed.

7. Click Close to close the Point to Point Distance dialog box.

Measure linear distance

The Linear Distance tool enables you to measure the orthogonal distance between two parallel faces or
edges or a face and an edge in the engineering data. The command only supports planar faces and linear
edges.

1. Choose Graphic Viewer Toolbar → Measurements group → Linear Distance .

The Linear Distance dialog box is displayed:

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Angular measurement

2. Select the First object in the Graphic Viewer.

The name of the selected object is displayed in the First object field.
3. Select the Second object in the Graphic Viewer.
The name of the selected object is displayed in the Second object field.
4. Click Create Dimension.
The exact distance between the two objects is calculated automatically and displayed in the Distance
field.
5. Click Close to close the Linear Distance dialog box.

Angular measurement

The Angular Measurement tool enables you to measure the angle between two intersecting faces or
edges, or a face and an edge, laying on intersecting planes/lines in the engineering data. The objects
themselves may not intersect. The command only supports planar faces and linear edges.

1. Choose Graphic Viewer Toolbar → Measurements group → Angular Measurement .

The Angular Measurement dialog box is displayed:

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 Curve length measurement

2. Select the First object in the Graphic Viewer.

The name of the selected object is displayed in the First object field.
3. Select the Second object in the Graphic Viewer.
The name of the selected object is displayed in the Second object field.
4. Click Create Dimension.
The angle between the two objects is calculated automatically and displayed in the Angle field.
5. Click Close to close the Angular Measurement dialog box.

Curve length measurement

The Curve Length Measurement tool enables you to measure the length of a curve displayed in the
Graphics Viewer.

Procedure

1. Choose Graphic Viewer Toolbar→ Measurements group → Curve Length Dimension .

The Curve Length dialog box is displayed.

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 2. Select the Curve object in the Graphic Viewer or Object Viewer.
The name of the selected object is displayed in the Curve object field and its length is calculated
automatically and displayed in the Length field and Graphics Viewer.

Alternatively, you can preselect a curve before launching the command.

3. Click Create Dimension if you wish to convert the displayed measurement into a dimension object in
the Object Viewer.

4. You can also:

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 • Click and select a color in which to display the measurement in the Graphic Viewer.
If you have already converted the measurement into a dimension object, this has no effect.

• Click to copy the measurement to the clipboard.

• Click another curve to make another measurement.
5. Click Close to close the Curve Length dialog box.

Note
You can use the Curve Length Dimension command to measure robot TCP tracks (trajectory) which are
not self intersecting.

Measure an angle by three points

The Angle by 3 Points tool enables you to measure the angle created by three points, where one of the
three points selected is specified as the center point.

All three points can be on the same object, on different objects, or at any location. You can use this tool to
help you plan the layout of a workstation in a factory.

1. Choose Home tab → Pick group → Component .

2. Choose Graphic Viewer Toolbar → Measurements group → Angle by 3 Points .

The Angle by 3 Points dialog box is displayed:

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Measure an angle by three points

3. Click a point in the Graphic Viewer that you want to specify as the center point.
The name of the object where the point is located is displayed in the Center field and the exact
coordinates of the point are displayed below.
4. If required, fine-tune the location of the point by adjusting the X-, Y- and Z-coordinates with the up
and down arrows.
5. Click a second point in the Graphic Viewer that you want to specify as the first line from the center
point.
The name of the object where the point is located is displayed in the Ray #1 field and the exact
coordinates of the point are displayed below. A line is drawn between the center point and the
second point.
6. If required, fine-tune the location of the second point by adjusting the X-, Y- and Z-coordinates with
the up and down arrows.
7. Click a third point in the Graphic Viewer that you want to specify as the second line from the center
point.
The name of the object where the point is located is displayed in the Ray #2 field and the exact
coordinates of the point are displayed below. A line is drawn between the center point and the third
point.
8. If required, fine-tune the location of the third point by adjusting the X-, Y- and Z-coordinates with the
up and down arrows.
The degrees of the angle between the first and second line is automatically calculated and displayed
at the bottom of the dialog box, as in the sample shown below:

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 Modify Color

9. Click Close to close the Angle by 3 Points dialog box.

Modify Color

The Modify Color option enables you to change the color of selected objects in the Graphic Viewer to
suit your individual requirements. You can change the color of several objects simultaneously by selecting
multiple objects.

• Select object(s) in the Graphic Viewer or Object Viewer and choose Graphic Viewer Toolbar →
Modify Color .
The Modify Color dialog box is displayed:

• Select a color from the palette.

The selected object in the Graphic Viewer changes to the selected color.
• If you wish to use a custom color, click Other and specify the desired color.

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Modify Color

The specified color appears in the color palette in your Recent Colors.

• Use the Select tool to select a color in the Graphics Viewer.

This tool selects the object's real color and ignores other colors used to create special effects, for
example shading to give the impression of depth.

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 Object toolbar

Note
• To change the default color of objects, events and operations, choose File tab → Options and click
the Color tab.
• When running Modify Color on a PMI, the system only modifies its foreground color.
• The ColorDef.xml file (located in the Installation folder) supports adding colors using either color
codes or color names (as defined in: http://www.w3schools.com).
Example of color definition by color names:

<ColorDef>
<ColorPalette>
<UserCustom />
<Predefined>
<Color value="AliceBlue" />
<Color value="AntiqueWhite" />
<Color value="Aqua" />
....

Note
If there are errors in the colorDef.xml file the default color pallet is displayed.

Object toolbar

The Object toolbar displays when you select an object. It is contextual, and changes for each type of object
you select, displaying icons for the relevant commands. As you move the mouse away, the Object toolbar
fades and after moving the mouse further away, the toolbar does not reappear until reselecting the object.

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NavigationSettings

Note
The Object toolbar is displayed by default. You can keep it hidden by deselecting the Display contextual
toolbar for selected object check box in Graphic Viewer tab.

NavigationSettings

Cube

Tecnomatix applications display the 3D Navigation Cube in the Graphic Viewer. The cube's clickable six
faces: Front, Back, Right, Left, Top and Bottom offer users an easy way to change the view point. They
can also change the view point by clicking the beveled edges at the intersection of every two faces and at
the corners of every three faces, providing even more versatility in selecting a specific view.

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 Cube

When the view point is fully on one face, the Navigation Cube displays arrows at each of the four edges of
the face. Clicking the arrows rotates the cube to the hidden faces on its other sides.

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Display

Note
Clicking the Home button rotates the Navigation Cube to the view point corresponding to the Top-Front-
Right corner of the cube.

The look and feel of the simulation of the scene moving to the new view point is determined by the
Rotation method selected in the Navigation Settings (also accessible via the Graphic Viewer tab of the
Options dialog): Tecnomatix or Vis method.

The Window display Animated viewing option (selected by default) in the Graphic Viewer tab causes a
'fly to' effect when rotating the view.

Users can click one of the two curved rotation arrows to turn the current view by 90 degrees in the
direction of the arrow. By holding down the mouse button turns the view smoothly and continuously in
the direction of the arrow.

Display

To access the Graphic Viewer Settings dialog box:

1. Hover your mouse near the navigation cube and click the cog wheel icon in the bottom left corner of
the Graphic Viewer.

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 Display

Or
Click Navigation Settings in Graphic Viewer tab.

The Graphic Viewer Settings dialog box appears.

2. Display or hide the navigation Cube.
3. Display or hide the Frame. This is a replica of the working frame and it matches the orientation of the
working frame in the currently displayed engineering data.
4. Specify whether to show the Simulation slider in the Path Editor and Sequence Editor during
simulation (it is hidden by default).
5. Click OK to save the changes or access another tab in the Graphic Viewer Settings dialog box.

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Navigation

Note
Even if the navigation cube is currently not visible, the settings icon (cog wheel) is continuously
displayed to enable accessing the Graphic Viewer Settings dialog box.

Navigation

1. Access the Graphic Viewer Settings dialog box and click the Navigation tab.

2. Set one of the following:

• Walk around objects (Tecnomatix method) - Objects rotate as in other Tecnomatix applications.
The navigation frame represents the orientation of the world frame. If, however, the navigation
cube is hidden, the frame represents the orientation of the working frame.
• Rotate object (Vis method) - Objects rotate in the direction of the mouse movement, as in
Teamcenter and Vis products (unlike Tecnomatix applications). The navigation frame represents
the orientation of the world frame. If you set Relative to Working Frame, the frame represents the
orientation of the working frame.
3. Click OK to save the changes or access another tab in the Graphic Viewer Settings dialog box.

Light sources

1. Access the Graphic Viewer Settings dialog box and click the Light sources tab.

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 Light sources

2. Set the level of ambient light in the Graphic Viewer using the slider or enter a value.
3. Set the level of light shining from various directions by activating the light direction icons

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True Shading

and using their sliders or setting their values.

4. Click any of the icons in the top row to use preset lighting levels.

If after selecting a preset lighting level, you make any manual changes, the icon is activated.
5. Click OK to save the changes or access another tab in the Graphic Viewer Settings dialog box.

True Shading

True Shading options (available from the Customize dialog) enable you to enhance the visual quality of
scenes in the Graphic Viewer. The is especially useful for presentation needs, such as creating simulation
videos and documentation with high quality screen shots of scenes.

You need to press the True Shading button first, which displays the floor grid, before activating any or all
of the three associated options:

• Floor Reflections
• Floor Shadows
• Global Texture

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 Location display frames

Location display frames

The representation of locations has been enhanced with the display of a pointing cone on the z axis and
a sphere on the x axis. From the Appearance tab, users have options to change on which axis to place the
cone, to keep the location axis size fixed or zoomable when panning in or out, and to set a minimal size for
the axis when zooming out.

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Search

When selecting a single location the XYZ tooltip is displayed with the same colors as the Working frame.

Search

The Search bar, located close to the top right corner of the application, enables you to search the names of
objects in the study and of commands in the application. You can enter whole words or part of a word, and
the search results begin to display as you type. This allows you to search for all objects or commands with
names that contain the specified word or letters.

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 Search

• In the text field, enter one or more words, or part of a word or a text string and press Enter on the
keyboard or click the magnifying glass icon.

The results of the search are listed in the expanded dialog box and also highlighted in the Graphic
Viewer and displayed in bold in the relevant trees. Clicking a command from the list opens the
command and closes the Search dialog. The total numbers of the search results are displayed in brackets
next to Commands and Objects in the dialog. You can use the Settings section to configure the search
to include just Objects, or Commands or all.
• If the found object is hidden in a tree, the tree expands to display it (if the option is set in the General
tab).
You can list all of the objects in the study (and all of the commands) by leaving the text field empty and
clicking the Search icon.

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Status Bar

• You can select multiple items in the Objects section of the Search list using regular multi select keyboard
combinations. Selected objects in the Search list are highlight both in the Graphic Viewer and the Object
Viewer.
• You can select multiple items in the Objects section of the Search list using regular multi select keyboard
combinations. Selected objects in the Search list are highlight both in the Graphic Viewer and the Object
Viewer.

Note
You can expand the Search window by dragging its left and bottom edges.

The Search Bar allows users to search according to ribbon group names and to execute the group’s sub
commands.

Status Bar

The Status Bar appears at the bottom of the Process Simulate application window. The status bar context
menu enables you to customize which information is displayed and which is hidden.

1. Right-click the status bar.

The Status Bar Configuration menu appears.

2. Check the items you wish to display on the status bar and clear those you wish to hide.

Note
• The status bar customization is stored in the current layout, see Layout Manager.
• When working in Process Simulated Standalone (see Using Process Simulate Disconnected to work
locally), only the Standard Mode, Pick Level, Pick Intent, and Pick Coordinates options are available
in the status bar.

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 Default keyboard shortcuts

Default keyboard shortcuts

The following table lists common shortcut keys available in Process Simulate. Do not assign these keys to
other functions.

Shortcut Keys Action

<Alt> + P Placement manipulator
<Alt> + Z Zoom to fit
<Alt> + F4 Close active window
<Ctrl> + A Select all components
<Ctrl> + C Copy
<Ctrl> + F Search
<Ctrl> + N New
<Ctrl> + O Open
<Ctrl> + S Save
<Ctrl> + V Paste
<Ctrl> + X Cut
<Ctrl> + Y Redo
<Ctrl> + Z Undo
<Alt> + Insert Insert from file
<Shift> + S Set current operation
Delete Delete component
F1 Display online help
F3 Pause
F4 Play backward
F5 Play forward
F6 Options
F10 Toggles between Shaded, Feature Lines over Solid, Feature
Lines, and Wireframe display modes
F11 Pick intent
F12 Pick level
Home Robot home

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Getting up and running demos

Getting up and running demos

Process Simulate on Teamcenter disconnected workflow

Note
Videos are not included in PDF. To access videos, use HTML.

Teamcenter Manufacturing Access overview

Note
Videos are not included in PDF. To access videos, use HTML.

Multi-user authoring demo

Note
Videos are not included in PDF. To access videos, use HTML.

Auto Save
Process Simulate automatically prompts you to save your work periodically.

Click Yes to save your work locally.

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 Customize

For information on how to enable the Auto Save function and configure its frequency, see General tab .

Customize
You can customize keyboard shortcut keys, ribbons, the quick access toolbar, and context menus to suit
your organization and working environment.

You can work in the default environment with the factory tool settings provided when the application
is installed, or customize tools specific to your individual requirements by adding or deleting options as
required.

Note
Click Reset at any time to cancel all customization and return to the factory settings.

The Customize dialog box includes tabs for the following customizations:

• Customizing Keyboard Shortcuts

• Customize the Mouse
• Customize the Ribbon
• Customize the Quick Access Toolbar

Optionally, you can perform any of the following:

• Right-click the ribbon and select Minimize the Ribbon to hide the ribbon. Doing this a second time
reveals the ribbon.
• By default, all the ribbon tabs listed in the Customize the Ribbon list in the right panel are checked and
therefore displayed. You can clear the checkbox for any tab you wish to hide.
• Right-click any tab name and select Set As Toolbar. The selected tab is removed from the ribbon and
displayed in a floating window. This is useful, for example, if you wish to display function buttons on
one monitor and work on another monitor.

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Customize the keyboard

• To cancel Set As Toolbar and return a tab to the ribbon, click in the top right corner of the toolbar or
check the relevant checkbox in Customize the Ribbon tab of the Customize dialog box.
• Clicking the arrow at the right end of the Quick Access Toolbar enables you to perform the following
actions:
◦ Launch any of the commands on the Quick Access Toolbar.
◦ Customize the Quick Access Toolbar by clicking More Commands. Refer to Customize Quick Access.
◦ Display the Quick Access Toolbar below or above the Quick Access Toolbar. If the Quick Access Toolbar
is currently displayed below the Quick Access Toolbar, the Show Quick Access Toolbar Above the
Ribbon option enables you to display it above the Quick Access Toolbar and vice versa.
◦ Hide the ribbon by selecting Minimize the Ribbon.
◦ Display the Quick Access Toolbar in a floating window.

Customize the keyboard

You can allocate a key, or a combination of keys, to perform a specific function when said key is pressed.
You can also allocate an extra key or keys to a function that already has keyboard shortcut keys assigned,
or you can replace the assigned keys with shortcut keys of your choice.

1. Select the Customize Keyboard tab in the Customize dialog box, as shown below:

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 Customize the keyboard

2. Select a Category in the left panel to display its Commands in the right panel.
3. In the Commands panel, select the command for which to customize a shortcut key.
When you select a command, a brief description of the command is displayed in the Description field,
and any previously assigned shortcut keys for this command are displayed in the Current Keys field.
4. Click the Press new shortcut key field and press the combination of keyboard key(s) you want to
assign as a shortcut to the command. For example, you man want to assign the <Ctrl+Alt+Insert>
keys to the to the Shaded Mode option command.

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Customize the keyboard

If the key desired key combination is already assigned to another command, a message is displayed,
stating to which command the key combination was previous assigned.

Completing the process overwrites the previous assignment.

5. If you wish, you can enable the Use this shortcut even when a dialog is active option.
6. Click Assign.
The keys are now assigned to perform the selected command.

You can modify keyboard shortcuts from the Customize Keyboard tab in the following ways:

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 Customizing the mouse

• Remove a keyboard shortcut by selecting the keyboard shortcut name in the Commands panel and
clicking Remove.
• Restore all keyboard shortcuts to their default settings by clicking Reset All.

Customizing the mouse

The default mouse behavior in Tecnomatix applications is similar to that of the NX application.

To display a graphic representation of the default mouse functionality, right-click the ribbon and choose
Customize the Ribbon to open the Customize dialog box.

Select the Customize Mouse tab to choose one of three configurations:

• Default: Offers commonly-used mouse behavior, similar to that of the NX application. This is a fixed
configuration, all parameters are read-only.

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 • Legacy: Offers mouse behavior similar to earlier versions of Tecnomatix applications. This is a fixed
configuration, all parameters are read-only.
• Custom: Enables you to customize each button to suit your requirements (the starting point is the
Default customization). Your customized settings remain active for all further work sessions until you
modify them. You can also quickly implement the same customization after migrating to the next
software version.

You can customize mouse behavior to suit your working habits. Each mouse button can be customized
to perform an action when clicked or held down while you drag the mouse. Various combinations of the
mouse buttons and wheel, together with the Shift, Alt, and Control buttons offer flexibility in defining
shortcuts for commonly-used actions in the Graphic Viewer.

To customize mouse buttons:

Note
Some button combinations cannot be customized because they are reserved for particular actions. For
example, clicking MB3 (right-mouse-button) is reserved for opening context menus, and dragging while
MB1 is held down is reserved for rubber band selection in the Graphic Viewer.

Procedure

1. Right-click the ribbon and choose Customize the Ribbon to open the Customize dialog box shown
above.
2. Click the Customize Mouse tab.
3. If you selected Custom, you can configure the following parameter groups in the dialog box:

Note
Mouse Map: This diagram on the right of the Customize dialog box defines the mouse button
names. The following parameters relate to these button names.

• Mouse drag: Enables you to configure which actions are performed when dragging the mouse and
depressing keyboard control buttons. For example, you may wish to use Shft + MB2 to pan the
display and Alt + MB2 to rotate it.
• Mouse wheel: Enables you to configure which actions are performed when pressing control
buttons on the keyboard while rolling the mouse wheel. For example, you may wish to use Ctrl +
Roll up to zoom in to the display if you are used to the same setting in other programs.
• Mouse click: Enables you to configure the action performed when you click the middle mouse
button (the wheel). For example, View Center (see also View Center).
• Mouse + button drag: Enables you to configure which actions are performed when clicking
various mouse buttons and pressing control buttons on the keyboard while dragging the mouse.
The following example shows the options for configuring Shift + MB1:

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 To implement your mouse customization after upgrading to a new software version:

• Drag direction
◦ Zoom: Set the direction for dragging the mouse to zoom the display. By default, zoom by
dragging the mouse vertically. Set the Mouse configuration to Legacy to zoom by dragging the
mouse horizontally and if you select Custom, you can set your own preference.
◦ Flip rotation: Enables you to change the default direction in which objects are rotated when
you drag the mouse across the scene. You can set this option to reverse the direction of rotation
for horizontal rotation, vertical rotation, or both. You can configure this for both Walk around
object (the Tecnomatix method) and Rotate object (the Vis method) rotation methods (refer to
Navigation settings).
This video demonstrates how to customize the middle mouse button.

Note
Videos are not included in PDF. To access videos, use HTML.

To implement your mouse customization after upgrading to a new software version:

Procedure

1. Close Process Simulate.

2. Locate the RibbonMouseConfiguration.xml file stored in current version
folder nested under GeneralConfiguration of your user profile, for example
C:\Users\JohnDoe\AppData\Local\Tecnomatix\GeneralConfiguration\13.0\
RibbonMouseConfiguration.xml.

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Customize ribbon tabs

3. Copy the file and overwrite the equivalent file in the new version folder, for example
C:\Users\JohnDoe\AppData\Local\Tecnomatix\GeneralConfiguration\13.0.1.
4. Launch Process Simulate and verify that your mouse customization has been preserved.

Customize ribbon tabs

You can add and remove buttons from ribbon tabs, and create and customize new tabs as required. You
can also hide ribbon tabs, specify whether or not tooltips should be displayed, and return a customized
ribbon to its default setting.

1. Right-click the ribbon and select Customize the Ribbon.

2. Click New Tab.

A new ribbon tab is inserted into the Main Tabs list and the new tab is populated with an empty New
Group of buttons.

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 Customize ribbon tabs

3. Select the new tab and click Rename or right-click the new tab and select Rename.
4. Type a name for the new tab, and click OK.
5. Rename the new group in the same way.
6. Use the arrow buttons on the right to move the new tab to the desired position on the ribbon.

7. To add commands to the new group:

a. Select the new group (or any group).
b. From the dropdown list at the top of the Choose command from list, select a category of
commands or retain the All Commands default setting.
The Choose command from list is repopulated with the commands available in the selected
category to facilitate finding the commands you want.
c. Select a command in the Choose command from.
d. Click Add.

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Customize Quick Access Toolbar

The command is added to the selected group.

e. Add all the commands you wish the group to contain.
f. If necessary, select a command in the selected group and click Remove to delete it from the
group.
8. Click OK.
The new tab is displayed on the ribbon.

In addition, from the Toolbar tab in the Customize dialog box, you can modify toolbars as follows:

• Display or hide a toolbar in the Process Simulate window by selecting or deselecting the toolbar name in
the Toolbars field.
• Delete a toolbar by selecting the toolbar name in the Toolbars field and clicking Delete.
• Rename a toolbar by selecting the toolbar name in the Toolbars field and clicking Rename.
• Determine whether the commands you add to new tab groups display in the ribbon as large or small
icons. For small icons, you can choose whether to display the command name text together with the
icon. Even though ribbons change large icons to small ones if there is not enough space, you can select
to show large icons in any case (Always Large Icon and Text), and conversely, always show small icons
even when there is enough room for large ones.
• Remove a command from a toolbar by dragging the toolbar button away from the toolbar or by
dragging it to any tab of the Customize dialog.
• Restore all toolbars to their default settings by clicking Default Settings.

Customize Quick Access Toolbar

You can display the Quick Access Toolbar below the ribbon to access frequently-used commands quickly.

To display the toolbar, right-click the ribbon and select Show Quick Access Toolbar Below the Ribbon. If
you right click the ribbon again, you can select Show Quick Access Toolbar Above the Ribbon.

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 Procedure

1. Right-click the ribbon and select Customize Quick Access Toolbar. The Customize dialog box appears
and the Quick Access Toolbar tab is active.

2. To add commands to the Quick Access Toolbar:

a. From the dropdown list at the top of the Choose command from list, select a category of
commands.
The Choose command from list is repopulated with the commands available in the selected
category to facilitate finding the commands you want.
b. Select a command in the Choose command from.
c. Click Add.
The command is added to the Quick Access Toolbar and appears in the right panel.
d. Add all the commands you wish to display in the Quick Access Toolbar.
e. Select a command in the right panel and use the arrow buttons on the right to change its
position on the toolbar.
f. If necessary, select a command in the selected group and click Remove to delete it from the
Quick Access Toolbar.

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 3. Optionally, do any of the following:
• Set or clear Show Quick Access Toolbar Below the Ribbon to display or hide the Quick Access
Toolbar (after exiting the Customize dialog box).
• Click Reset to return the Quick Access Toolbar to its factory setting.
4. Click OK. The display is updated.
5. You can also right-click any button on the ribbon and select Add to Quick Access Toolbar.

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 Recently used studies

4. File
Recently used studies
In Process Simulate on Teamcenter Connected, to open a recent study, choose File→Recent Studies and
select a study with its associated Collaboration Context.

Open in Standard Mode/Line Simulation Mode

Note
Line simulation is also known as event-based simulation.

The Open in Standard Mode and Open in Line Simulation Mode options enable you to open a local
study file (PSZ-TC) and run it in Standard or Line Simulation mode.

When you receive a pszx (zipped study) file, you can use the following steps to open the data in Process
Simulate:

1. Create a folder for the study in your system root (sysroot) folder.
2. Copy the zipped data file to the new folder, and unzip it there.
3. Unzip the Library.zip.
4. In Process Simulate, update the Disconnected system root path to point to the library folder.
5. Load the data in Process Simulate.

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Save

This video demonstrates how Status Viewer messages displayed after loading a study are used to identify
issues in the loaded data.

Note
Videos are not included in PDF. To access videos, use HTML.

Save
The Save option enables you to save changes in the currently loaded PSZ-TC file when working connected
Teamcenter or when running Process Simulate Standalone.

If you have completed a working session with Process Simulate Standalone, then when a Teamcenter
connection becomes available, you can launch Process Simulate, load the PSZ-TC file, and update the
server with these changes by running Teamcenter Update.

Choose File tab → Save .

In Standalone mode, choose File tab → Disconnected study→Save .

Note
It is not recommended to change the Teamcenter configuration while a Line Builder is working on a
disconnected study.

Study Manager
This video demonstrates how to find studies using the Study Manger and load them in Process Simulate.

Note
Videos are not included in PDF. To access videos, use HTML.

You can use the Study Manager command to create, edit, search for and load studies in a particular
collaboration context object.

Note
The Study Manager command is part of the Teamcenter Manufacturing Access application. This
application is based on the Active Workspace platform, and provides tools for accessing and loading
data from Teamcenter to Process Simulate. For more information refer to the EasyPlan Teamcenter
Manufacturing Access documentation.

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 Save as

Save as
Users can save data in a .psz-tc file for transfer to other users to work offline. This is especially useful
when working with suppliers who have not purchased a Teamcenter license.

Choose File tab → Save as.

For Process Simulate on Teamcenter Standalone, choose File tab → Disconnected study→Save as.

Note
It is not recommended to change the Teamcenter configuration while a Line Builder is working on a
disconnected study.

Process Simulate Standalone

Using Process Simulate Standalone to work locally

It is sometimes necessary to run Process Simulate when no connection to the Teamcenter is available, for
example, if you wish to make changes to your study while observing “live” processes on the shop floor.
Process Simulate Standalone is a standalone application that can run a local instance of your study (PSZ-TC
file) without connecting to the Teamcenter. After completing your Process Simulate Standalone session,
you can save your data, run Process Simulate, open the study, and update changes from the PSZ-TC file to
the Teamcenter (using Update Teamcenter Update) when a connection becomes available.

Process Simulate Standalone supports all the features of Process Simulate except for the following:

• Teamcenter commands, such as Mfg Search, Replace Resource and Product, etc.
• Retrieve Detailed Representation
• Public Layout
• Movie Manager

While running Process Simulate with an active connection to Teamcenter, the Save As option creates a
single PSZ-TC file. This is useful if you wish to run Process Simulate Standalone when Teamcenter is not
available but you are still connected to the network.

Alternatively, the Save As option creates a ZIP file with all the library components present in the loaded
study and a PSZ-TC file for the study. This saves time and space if you have previously worked with Process
Simulate Standalone or if you work on various studies that use a common set of library components. It is
also useful if you wish to run Process Simulate Standalone when both Teamcenter and your network are
not available.

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Save a copy of a study

While running Process Simulate Standalone, the Save As option creates a new copy of the current study
under a new name.

While running Process Simulate in Standalone mode, the Save As option creates a PSZ-TC file plus a ZIP file
with all the components you modified and inserted during your Standalone work session.

Note
For multiple sessions, you can load a different PSZ-TC study in each session, each with its own system
root.

Save a copy of a study

Procedure

1. Choose File tab → Disconnected Study→Save As .

The Save file as dialog box is displayed.

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 2. Select a destination for your local file.
3. In the File name dropdown list, type a meaningful name for your local study.
4. Click Save to save the data. The duration of this operation depends on the size of your study.

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Teamcenter Update

Teamcenter Update
Refer to Teamcenter Update.

Import and Export

Convert and insert resource CAD files

This video demonstrates how to convert and import resource CAD files.

Note
Videos are not included in PDF. To access videos, use HTML.

The Convert and Insert Resource CAD Files command enables you to import CAD resources into Process
Simulate on Teamcenter.

Note
To use the Convert and Insert Resource CAD Files command, you must first install the CAD Translators
from the CAD Translators directory on the installation DVD.

Procedure

1. In the Object Viewer, pick a resource under which to import the CAD resource.

Note
To import a resource under a Compound Equipment, the equipment must be in modeling scope.

2. Choose File tab → Import/Export → Convert and Insert Resource CAD Files.

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 3. Set Object creation to one of the following:
• Always create new object—to create a new resource revision on each import.
• Update object from same file path (single resource only)—to update the JT file of existing
resource revisions that were previously imported from the same location. This option is only
available if all the files selected are imported as single resources.
When loading from a specific path, the same object is updated. Therefore only the first import
creates the object (the first import creates a revision (occurrence), and each subsequent import
updates the revision and creates a new occurrence). This also means that if two users (in two
different studies) import a file from same path, then when performing Update to Teamcenter, the
same object is updated.
4. Click Add and select a CAD file to import.

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 The File Name input should be a full path to the CAD resource. You can import the following CAD file
formats:
• JT (*.jt)
• NX (*.prt)
• CATIA (*.CATPart or *.CATProduct)
• ProE (*.prt or *.asm)
• STEP (*.stp or *.step)
• STEP XML (*.stpx)
• IGES (*.igs or *.iges)
• DXF (*.dfx)
5. After selecting a resource, click Open to configure its import settings.

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 6. In Import as, set one of the following options:
• Resource—Imports the resource as a single resource file. In the Class Types area, select a
Resource type from the list of options provided by Teamcenter.

• Compound equipment—Imports the resource as a Compound Equipment. In the Class Types

area, select an Assembly type and Resource type from the lists of options provided by

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 Teamcenter. This option is only available when creating new objects (not available when
performing an update).

• Workarea structure—Imports the resource as a Workarea structure. In the Class Types area, select
an Assembly type and Resource type from the lists of options provided by Teamcenter. This
option is only available when creating new objects (not available when performing an update).
7. If you set Import as to Compound equipment or Workarea structure, you can set Create a
monolithic JT file for each sub-assembly. When this option is selected, the converter creates a
new JT assembly structure for each sub-assembly or for the entire assembly in which the sub-
assemblies are stored as monolithic JT files. The hierarchy changes and only leaf nodes are attached
to the root.
8. Click OK.

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 9. You can review your choices and make changes if necessary. Click Add to add more CAD files, Edit to
revise the import settings, or Remove to delete selected resources.
10. You can set Accumulate matrices—If the CAD resource has an assembly structure in which there
are transformations in the sub-assemblies, the matrices are accumulated on the leaf nodes of the
JT-assembly and removed from the sub-assembly nodes.
11. Click Import.
A dialog box indicates the progress in converting the CAD files. The dialog box contains a link to a log
file created after the conversion is completed.

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Convert CAD files to study parts

The imported resources are displayed in the Object Viewer.

Convert CAD files to study parts

This video demonstrates how to convert CAD files and import them as study parts.

Note
Videos are not included in PDF. To access videos, use HTML.

You can import CAD files into Process Simulate and save them in the study as study parts.

The imported parts are stored as Study Parts and they behave in the same way in Process Simulate as
released parts sent from the Teamcenter product structure. However, it is possible to delete study parts.
Running Teamcenter Update stores Study Parts in a Teamcenter dataset nested directly under the study,
unlike released parts in the bill of materials (BOM).

The following CAD formats are supported: JT (.jt), NX (.prt). CATIA (.CATPart, .CATProduct), ProE
(.prt, .asm), STEP (.stp, .step), STEP XML (.stpx), IGES (.igs, .iges), and DXF (.dxf).

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 Note
• To run the Convert CAD Files to Study Parts command, CAD Translators must be installed on your
machine.
• If the administrator has cleared Enable inserting of Study Parts, this option is not available. In this
case, only managed parts sent directly from the Teamcenter product structure are available.

Procedure

1. Choose File tab → Import/Export → Convert CAD Files to Study Parts.

2. When the file browser opens, navigate to the desired CAD file.

3. Click Open.
The CAD file is loaded.

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 4. Click Add and load additional files, as required.If necessary, select a file and click Remove.
5. Set Options as follows:
• Accumulate matrices—If the CAD file has an assembly structure in which there are
transformations in the subassemblies, the matrices are accumulated on the leaf nodes of the
JT-assembly and removed from the subassembly nodes.
• Create a monolithic JT file—Select this option to create a new JT assembly structure for each
sub-assembly or for the entire assembly in which the subassemblies are stored as monolithic JT
files. The hierarchy changes and only leaf nodes are attached to the root.
6. Click Import.
The Import Status displays a progress bar during the import procedure and a status report when
complete. It also provides a link to the import log file.

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 Importing Mfgs

For each import, the system creates a Study Parts folder under which it nests the new parts which

are marked with the icon.

7. If necessary, you can move study parts from one study part folder to another, or modify the hierarchy
by nesting one study part folder under another.

Importing Mfgs

You can use the Import Mfgs command to add Mfgs (stored in a CSV file) from external CAD programs to a
study.

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Import Mfgs - prepare CSV file

Note
• The command is only available when the system is configured to work with private Mfgs, as defined
using the Teamcenter Mapping Configuration Tool.
• Continuous Mfgs are not supported.
• If you have customized more than one type of discrete operation in Teamcenter, the first type is used
as defined in the TCAllowed child types list.

Import Mfgs workflow

• Prepare a CSV file with Mfgs to import.

• Import Mfgs. The Mfgs are added under a new discrete operation and are visible in the Mfg Viewer.
The newly created operation is nested under the selected process/compound operation or other valid
container.
• Run Teamcenter Update (or Save if running in disconnected mode) to upload the new and updated
Mfgs.

This video demonstrates how to import Mfgs from Teamcenter when performing early evaluation of
updated parts.

Note
Videos are not included in PDF. To access videos, use HTML.

Import Mfgs - prepare CSV file

Prior to launching Import Mfgs, you must prepare a file in CSV format containing the Mfgs to be imported.

Click here to download this example.

The Name of the Mfg and its location fields X, Y, and Z are mandatory. If the file does not contain these
exact fields, the import will not run.

You can also add the following optional columns:

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 • A Leading Part and any number of Connected Part fields. These are the parts with which the Mfg is
associated (when the leading part is moved, the Mfg moves together with the part, but when connected
parts are moved, the Mfg remains at its current location).

Note
◦ If a leading part is defined for the Mfg but it does not exist in the study, the system ignores the
leading part and connected parts.
◦ If a leading/connected part is defined and there are more than one parts with that name, the first
one found is selected and assigned as the leading/connected part.

• Class, can be empty or set to WeldPoint.

• Rotation fields Rx, Ry, Rz, in radians.

Import Mfgs

Procedure

1. Pick a compound operation under which to nest the imported Mfgs. A discrete operation is nested
here.
2. Choose File tab → Import/Export group → Import Mfgs.The Import Mfgs window is displayed.
3. Click Add to locate and select the CSV files and click Open.
The selected CSV files are listed in the Import Mfgs dialog box.

4. Select the Use Working Frame check box to import the Mfgs with coordinates relative to the working
frame, or clear it to import the Mfgs with absolute coordinates.

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 5. Click Import.
The system imports the Mfgs.

When all the Mfgs are imported, the system displays the success message.

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 The imported Mfgs are displayed in operations nested under the Object Viewer root and in the Mfg
Viewer.

If you selected an operation (as opposed to a compound operation) before launching the command,
the system nests a WeldOperation under the selected operation.
6. Click View Log File to view detailed information on the import results.

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 Note
• Existing non private Mfgs are not considered part of the study and are not affected by this command.
• Multiple Mfgs:
◦ If an imported Mfg already exists in the study, it is updated from the CSV file.
◦ You can select multiple CSV files to import their Mfgs in a single import action.
◦ If the CSV file contains multiple Mfgs with the same name, none of them are imported.
◦ If the study contains multiple Mfgs with the same name, the first Mfg in the study is updated and
the others are ignored.
• If you have specified a leading part in the CSV file that occurs more than once in the study, the first
occurrence in the study is set and the others are ignored.

Export objects to JT

The Export JT command allows you to export objects to JT format, compatible for use with external CAD
applications.

Users can export a geometric 3D snapshot of a study or line to JT format for all the following purposes:

• Visualization - provide 3D images of the manufacturing planning project status.

• Layout - supply factory layout with exact dimensions of static work cells or lines with resources.
• Equipment design - send a snapshot of a collision point during simulation with penetration data back
to the CAD designer for modifications.

For studies displayed in the Graphics Viewer, users can indicate which objects they wish to export to JT:
Studies, Compound objects, or Instances.

Note
• When exporting to JT format, the system creates version 9.5 JT files by default.
• Only loaded objects that are visible (not blanked) are exported.
• You cannot run the Export JT command on multiple selections of objects.

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 Procedure

1. Select a study, compound object, or component instance from the tree or in the Graphic Viewer
(blanked objects cannot be exported to JT).

2. Choose File tab → Import/Export → Export JT .

The Export JT dialog is displayed.

If you run the command with nothing selected, the entire study is exported and the file name is set
to GraphicViewer.jt. If you selected an object, its name automatically appears in the Selected Node
field.
The Target JT File field by default displays the most recently used path in the current session and
supplies an assembly file name identical to the selected node.

Note
• For cases when an object lacks a display name, the system uses the internal name. For objects
with neither a display or internal name, the system assigns a default to the created JT files,
for example, TxJtExportComponent.jt, TxJtExportComponent1.jt, TxJtExportComponent2.jt,
etc.

3. From the Target file format field, select either:

• JT per part (default) - the system writes all data hierarchically descending from the selected node
as a hierarchy jt file, and separate jt files for each instance. The jt files for instances are located in a
sub-directory with same name as the hierarchy file.
or

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Export to Excel

• JT monolithic - the system stores the entire node with its sub-hierarchy in a single JT file.

Note
If you select a node that represents a single component, the outcome of both Target file format
options is the same. In both cases, the system creates one JT file that contains all the information of
the selected component.

4. In the JT Version dropdown list, select a JT Version for new JT files. For your convenience, Process
Simulate indicates the Teamcenter Vis and Tecnomatix versions compatible with each JT version.

Note
The JT Version setting in the General Tab does not affect the output of this command.

5. You can set Attach to object and select a dataset to which to attach the JT file. To access the
dataset in Process Simulate, save and reload the session from Teamcenter.
6. In the Include area, check the items to include in the target JT file and clear those to exclude:
• Frames - These are written to the exported JT file as Coordinate System PMIs.
• Locations - These are written to the exported JT file as Coordinate System PMIs.
• Dimensions - These are written to the exported JT file as Dimension PMIs.
• Notes - These are written to the exported JT file as Note PMIs.
• PMIs - These are written to the exported JT file as PMIs.

Note
• Selecting the Exact geometry option allows you to export the XtBrep, WfRep, and JtBrep
geometry formats.
• 2D objects can also be exported.
• Frames and Locations are written to the JT as Coordinate System PMIs.

If the source of the export is a component, it is exported with no orientation. When exporting a study
or compound, by default the components are exported with orientation relative to the origin. If you
select the Working Frame option, the components are exported relative to the working frame.

Export to Excel

You can export all the data contained in the Path Editor and all the relevant operations in the Sequence
Editor to an Excel file.

To export the contents of both the open Path Editor and Sequence Editor to an Excel file, choose File tab

→ Import/Export → Export Viewers to Excel .

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 Export an image file

Export an image file

You can create an image file of the image currently displayed in the Graphic Viewer and save it in one of
the following image formats currently supported by Process Simulate:

• Bitmap Files (*.bmp)

• JPEG Files (*.jpg)
• GIF Files (*.gif)
• TIF Files (*.tif)

Procedure

1. Choose File tab → Export → Export Images .

The Export Images dialog box is displayed:

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Export 3D data to HTML format

2. Select the required image format from the Save as type dropdown list, and then browse to the
required directory.
3. Enter a file name for the image in the File name field and click Save.The image file is saved with the
specified name in the selected directory.

Export 3D data to HTML format

Use the Export to Web command to convert 3D data and simulations to HTML file format. You can share
these with anyone using a Web browser that supports HTML5 and WebGL. In the browser It is possible
to manipulate the view from different angles and zooms and play the simulation with no additional
installation required.

Note
Recommend browsers are Microsoft Edge (Windows 10), Google Chrome and Mozilla Firefox.

Procedure

1. Arrange the 3D data that you wish to export to HTML format in the Graphics Viewer. If you are
exporting a simulation, select the operation.

Note
For simulations, you can create smaller video files by blanking entities in the Graphics Viewer that
are not critical for the purpose of the demo.

2. Choose File tab → Export → Export to Web .

The Export to Web dialog box is displayed.

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 3. You can save the exported data as an HTML file, or in HTML format attached to a Teamcenter process,
or both. In the Output area, select one or both of the following:
• Save to file - This option enables you to save the exported information in an HTML file on your
computer. Set the following parameters:
◦ File name - The path and filename for the HTML file.
◦ Launch in browser - Set this option if you wish the HTML file to open on your machine
immediately after creation.
• Attach to process - This option enables you to save the exported information as an HTML file
attached to a Teamcenter process. Set the following parameters:
◦ File name - The filename for the HTML file.
◦ Process - The name of the Teamcenter process to which you wish to attach the exported data.
4. In the Content section, set the following:
• Level of details - Enables you to set the level of detail for the HTML file.
• Include simulation - Set this option if you wish to export a simulation.
• Operation - If you are exporting a simulation, select an operation to simulate.

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 5. Click OK. The application exports the requested data.

Note
Export to Web does not support 2D objects, line simulations or Human operations.

Export data to PLMX format

You can export the currently-displayed data to PLMX format and distribute the resulting file for
collaboration. Users can load PLMX files in the Siemens Digital Manufacturing Viewer to view and
examine the data. During export, the current operation is also exported with its simulation, enabling you
to play the simulation in the viewer. If no operation is selected, only the data is exported.

Procedure

1. Optionally, select an operation.

2. Choose File tab → Export → Export To PLMX.

3. In the Output section, set the following:

• Use the populated scene name in File name, or navigate to any target destination and overwrite
the path and name.
• Use the populated Package name, or overwrite this.
• Launch on completion - Set this option if you wish the PLMX to open on your machine
immediately after creation.

Note
The name of the PLMX file is the same as the Package name unless you overwrite the default value.

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 4. In the Content section, set the following:
• Level of details - Enables you to set the level of detail for the PLMX file.
• Include simulation - Set this option if you wish to export a simulation.
• If Operation is empty, click it and select an operation, or leave it empty if you are exporting data
only.
5. Click Export.
The export runs in the background and may take some time depending on the size of the data.

Note
All the following are exported: The visible scene (blanked items are omitted), the data hierarchy
down to entity level, the current simulation, and work instructions. Work instructions should be
entered as comments in the properties of the direct children operations of the selected exported
operations.

When the export is complete, the system prompts you to access the destination of the exported PLMX
file.

Note
Export to PLMX does not support 2D objects, line simulations or Human operations.

Viewing PLMX Files

Recipients of exported files can view them in the Siemens Digital Manufacturing Viewer even if they do not
have a Process Simulate license.

The following is an example of a PLMX file loaded in the Digital Manufacturing Viewer.

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Viewing PLMX Files

Note
See the Digital Manufacturing Viewer help file for information on using this tool.

If you add comments to the operation's locations in Process Simulate, the viewer displays these as work
instructions, for example, Step 2/6 Screw Bolts.

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 Options dialog

Options dialog

Appearance Tab

The Appearance Tab enables you to set parameters for a variety of items, as described below:

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Appearance Tab

Selecting an item from the text box enables you to set the appearance for that item from the available
options. For example, you can choose different colors to indicate assigned and unassigned components.
You can preview the selected parameters of the selected item in the Graphic Viewer without closing the
Options dialog box by clicking the Preview button. The following items can be changed:

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 Appearance Tab

Main Item Sub Item Sub Item and Description

Emphasized Graphic Emphasized Mfgs Set the color for emphasized
Appearance Mfgs. For more information, see
Emphasize Continuous Mfgs.
Graphic Viewer Background Background The background
color in the Graphic Viewer.
Select one of the following
background options from the
dropdown list:

• Solid — Only the top left color

selector is enabled. Select a
color for the background.
• Vertical — The two left-hand
color selectors are enabled.
Select two colors to create a
vertical color gradient for the
background.
• Horizontal — The two top
color selectors are enabled.
Select two colors to create a
horizontal color gradient for
the background.
• Corners — All the color
selectors are enabled. Select
colors for each of the
corners. The system creates
a background with color
gradients between the corners.

Note
You can preview the color
of the selected item in the
Graphic Viewer without closing
the Appearance Tab dialog by
clicking Preview.

Pick Field The color of the active data fields

in dialog boxes. This applies to
any field where a value is entered
by selecting an object or point in
the Graphic Viewer.
Floor The color of the floor.

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Appearance Tab

Main Item Sub Item Sub Item and Description

Floor Grid The color of the floor grid.
Kinematics Colors Locations Colors Set colors to indicate when robot
Joint Physical Limits and Joint
Working Limits reach their limits.
Locations and operations Locations Colors Locations Colors - you can set
different types of locations each
with a different color to make it
easy to differentiate between the
various types represented in the
Graphic Viewer. After setting a
location type's color, all locations
of that type that you create
afterward are assigned that color.
Use the Recolor button if you
wish to retroactively assign the
new color to all existing locations
of that type in the study.

Note
Using Recolor only affects
locations of the currently
loaded study.

Operations Display Enables you to set the color for

operations.
Locations Display This option enables you to
control the way locations are
displayed.

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 Appearance Tab

Main Item Sub Item Sub Item and Description

By default, the Z-axis is marked

by a cone, the X-axis by a
ball, and the Y-axis is unmarked.
Similarly, when you select a
single location, its X, Y, and X-
axes are annotated by colored
letters (the same colors as those
used in the working frame). You
can set the following parameters:

• Cone direction - Enables you

to set the cone on any of the
axes, X, Y, or Z.
• Fixed location size (no zoom)
- When set, locations are
displayed in the Location size
configured below, regardless of
the zoom setting.
• Update location size while
zooming - When set, locations
are zoomed together with all
other objects.
• Keep minimal size at zoom
out - When set, locations are
zoomed out (become smaller)
when the display is zoomed till
they reach the Location size,
after which they remain the
same size even if the display is
further zoomed out.
Manipulators Placement Manipulator Guides Enables you to set the color
for the Placement Manipulator
guides.
New Objects Frame, Solid, Note Background, Any new objects appear in the
Note Text, Note Border, selected color.

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Appearance Tab

Main Item Sub Item Sub Item and Description

Label Background, Label
Text, Label Border,
Dimension, Dimension Text,
Dimension Text Background,
Collision penetration vector,
Interference Volume
Online Indications Colors Operations Assignment Change colors used to indicate
Assigned and Unassigned
operations, from default red and
green.
Point Clouds Shading Set the preferred shading method
for displaying point clouds. You
can select between RBG and
Intensity (default), RBG color, or
Intensity. The display of different
point clouds may be enhanced by
selecting different methods.
Point Settings Default point cloud point size is 1
pixel. You can increase point size
up to a maximum of 5 pixels.

For complex point cloud scenes,

using larger point size can
increase the visibility of objects
placed in the foreground. On
the other hand, larger points
may obscure objects in the
background.
Sections Configure the following section
plane parameters:

• Border - set the color and

width (number of pixels).
• Currently managed border
- set the color and width
(number of pixels) for the
border of the plane for
which the Section Manager is
currently open.
• Plane - set the color and
percentage of transparency for
deactivated section planes not
currently managed.

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 Appearance Tab

Main Item Sub Item Sub Item and Description

• Currently managed plane -
set the color and percentage
of transparency for currently
managed deactivated plane.
• Contour - set the color and
width (number of pixels), see
Clip Section and Cut Section
in Sections commands. By
default, the system uses the
color of the objects.
• Capping - set the color for all
the object surfaces clipped by
the clipping section. For more
information, see Sections.
• Hatching - set the shading
for all the object surfaces
clipped by the clipping section.
For more information, see
Sections.
• Volume edge size - set the
default size and color for
section volumes. The color
setting applies to the top
and bottom of the section
volume cube. The cube's other
faces are automatically set to
a darker shade of the same
color. For more information,
see New Section Volume.
Simulation Objects Colors Operations The following simulated
operations appear in this
color: Flow, Flow Location,
Device, Device Control Group,
Weld, Weld LocationContinuous
Robotic, Robotic Seam, Robotic
Seam Location, Via Location,
Compound, Non-Sim, Robotic,
General Robotic, General
Robotic Location, Gripper,
Robotic Path Reference.
Events The following simulated events
appear in this color: , Human,
Human Ergonomic, Blank,
Display , Attach, Detach,

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Collision tab

Main Item Sub Item Sub Item and Description

Signal, Snapshot, View Point,
Add To Group, Remove
From Group, Emphasize, De-
emphasize, Activate Collision
Sets, Deactivate Collision Sets.
Themes Theme Selection By default, Process Simulate runs
using the Light theme. You can
change to the Dark theme. The
theme change comes into effect
after restarting.

Collision tab

The Collision tab, shown below, includes parameters for specifying near-miss and collision detection.
Collision includes two states: Contact and penetration.

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 Collision tab

The following options are included in the Collision tab:

Option Description
Collision Check Options
Check for Collision When selected, the near-miss object in the preview is colored yellow. Also,
Near-Miss objects in near-miss collisions are colored yellow in the Graphic Viewer and
the Collision Viewer. Specify a near-miss collision distance in Near-Miss Default
Value.

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Collision tab

Option Description
Near-Miss Default Defines the default distance between two objects below which the system
Value considers the objects to be in a state of near miss. This value is a range between
0 and 10,000 mm. You can override this value in the Collision Viewer.
Collision Contact Each colliding pair is checked for permitted contact, according to the default
value specified in the field to the right of the Allowed Penetration Value field.
The maximum value of this field is 5 default measurement units. Penetration
less than this value is not considered a collision. This parameter eliminates false
collisions, such as a screw connecting with a bolt, or tools placed on a surface.

The Show Contacts in Collision Report checkbox, when selected, will display
contacting pairs in the collision report as having the status Contact. If this
option is not selected and the Near-Miss option is active, they will appear with
distance 0. If the Near-Miss option is inactive, they will not appear at all.
Contact objects color There are three color options:

• Red — Any contact is considered a collision in the same way as penetration.

• Orange — The system identifies contact and penetration separately. If the
Near-Miss option is disabled, this color option is not available.
• No color— The system removes contacts from the Collision Viewer. If the
Near-Miss option is enabled, this color option is not available.
Allowed Penetration Each colliding pair is checked for permitted contact, according to the value
Value specified in Allowed Penetration Value. The actual Allowed Penetration value,
used by the algorithm, is relative to the colliding objects size. The smaller of the
following two values is used: the user input value or 2% of the smaller object
bounding box size. Penetration less than or equal to this value is considered a
contact and penetration greater than this value is considered a collision. This
parameter eliminates false collisions, such as a screw connecting with a bolt, or
tools placed on a surface. The maximum value of this field is 5 mm. You can
override this value in the Collision Viewer.

Note
Contact calculations ignore displayed wireframe objects.

Ignore wireframe When checked, all curves and other wireframe objects are ignored when
entities calculating collisions and near-misses.

Note
This option is not relevant for Automatic Path Planner, which always ignores
wireframe entities.

Collision Report Level

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 Configure advanced collision options

Option Description

Selecting Component level creates the Collision report on the component level
in the Graphic Viewer and the Collision Viewer.

Selecting Lowest available level creates the Collision report on the lowest
available level: Entity/Block/Link/Component, in the Graphic Viewer and in the
Collision Viewer.
Collision Detection Behavior
Stop Simulation When selected, simulation stops when objects collide. Note that a violation may
when a Violation is be a near miss if the Check for Collision Near-Miss option is activated, or
Detected a contact (collision). However a penetration is not considered a violation and
does not stop the simulation. The simulation stops every time the collision state
changes. For instance, the simulation stops if the state changes from Near Miss
to Contact, and again if the state changes from Contact to Near Miss.
Play a Sound when a When selected, a sound is heard on collision. To specify the sound to be played,
Collision is Detected click Browse on the right side of the tab and browse to the required (*.wav) file.
Advanced Click Advanced to access Advanced Collision Options.

This video demonstrates collision detection and avoidance.

Note
Videos are not included in PDF. To access videos, use HTML.

Configure advanced collision options

Procedure

1. In the Collision tab, click Advanced.

The Advanced Collision Options dialog box appears.

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 2. Configure the following options:

Parameter Description
Collision set used
for static tools Hover your mouse over to view a tool tip listing the applications for
which the collision set becomes valid.

Default set Enables you to select a standard collision set for use in Process Simulate

applications. Hover your mouse over to view a tool tip listing the default
set. This consists of two lists of objects to be compared when calculating
collisions.

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 Parameter Description

The system searches for collisions between objects in List1 and List2. Check
Consider collisions within list to also consider collisions between the
objects of List1 as collisions or Do not consider collisions within list to
exclude these.
Collision Viewer Enables you to use the currently-active collision sets in the system
active sets applications. If none are defined, the system issues a message. As you enter
data into the application dialogs, the system performs a preliminary online
check. If this results in a collision, the system issues a warning and prompts
you to confirm if you still wish to continue with the complete test.

Note
When Collision Viewer active sets is set, the system considers any contact
as a collision.

Consider Near- Enabled only when Check for Collision Near-Miss is set. This option is
Miss as collision cleared by default.
When Consider Near-Miss as collision is set, the following applications
consider a near-miss as a collision:
• Weld Distribution Center
• Pie Chart
• Automatic Approach Angle
• Smart Place
Activate smart By default, objects defined in the Do not check for collisions with list in
gun tips collision the Tool Definition dialog (for example, weld gun tips) are ignored during
detection collision detection. Setting this option deactivates the non-colliding list,
allowing collision detection between objects in the non-colliding list and
parts assigned to operations or Mfgs.

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 Parameter Description

Note
To use this option, it is necessary for the Mfg to have assigned parts.
Collision with other parts is still detected.

Collisions between objects in the non-colliding list and parts can also be
ignored nearby to locations and/or seams by defining a detection volume
using the Ignore Collision In Range option).

Note
This function does not support non-colliding grippers or robotic tools that
are not guns. These are always ignored.

Ignore collision This option is active when Activate smart gun tips collision detection
in range is set. It enables you to set the detection volume surrounding locations/
seams within which collisions between gun tips and their target locations
are ignored. The possible values are 0.01 - 50mm and the default value is
10mm.

Note
Detection volumes are defined as follows:
• Weld locations — A sphere around the weld location with a radius equal
to the Ignore collision in range setting.
• Continuous processes — A tube with a radius equal to the Ignore
collision in range setting along the continuous feature line.
When the TCPF is positioned inside the gun tip, the Ignore collision in
range value must be larger than the distance between the TCPF and the
gun tip outer surface. Therefore it is recommended to keep this value
greater than the overall maximal value of parts thickness, gun tip radius
and gun tip height, as illustrated below:

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 Continuous tab

Continuous tab

The Continuous tab includes parameters for specifying the orientation and angle deviation limits of
continuous locations.

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Continuous tab

The following parameters are included in the Continuous tab:

Parameter Description
Movement Vector Enables you to define the axis to be aligned with the direction of the movement
(you can define positive or negative values for x, y, z).
Normal Enables you to define the Normal axis for projected locations.

• Use negative (–x, –y, –z) values to define the direction of the calculated
perpendicular as Towards part.

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 General tab

Parameter Description
• Use positive (x, y, z) values to define the direction of the calculated
perpendicular as Away from part.
Permitted Deviation Enables you to specify the continuous angle deviation limit from the normal.
Angle
Permitted distance Enables you to specify the permitted distance of the location along the Normal
axis. This value determines the movement range along the Normal in the
Translate and Rotate areas of the Multiple Locations Manipulation dialog.
Tangent Faces Enables you to configure tangent face selection, as follows:

• Maximum angle between adjacent faces: When the Continuous Process

Generator automatically selects tangent faces, it continues selecting faces
until the angle between the adjacent faces exceeds this value. The default
value is 1°.
• Maximum deviation angle from selected face: When the Continuous
Process Generator is running in Coverage pattern mode, it automatically
selects faces, and continues selecting faces until the angle of the next
candidate face (with respect to the last-selected face) exceeds this value. The
default value is 40°.

General tab

The General tab, shown below, includes parameters for specifying the amount of detail with which
operations and assemblies are displayed and for specifying whether or not to use group geometry.

The following parameters are included in the General tab:

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General tab

Parameter Description
Apply Default Layer Filter when loading data JT files can contain layer filters that can be activated
to reveal and hide various layers in graphic
applications. Objects in the JT file may belong to
zero, one, or multiple layers and layers may contain
any number of objects. Similarly, layers may belong
to zero, one, or multiple filters and filters may
contain any number of layers. For example, one
filter may contain all the layers containing the
starting materials for your product, another filter
can contain the layers with materials required for

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 General tab

Parameter Description
the CNC stage, and a third filter may contain the
final part layers.

If the JT file does not specify a default filter, Process

Simulate loads all the objects in the default filter.
Process Simulate does not support configuring of
filters — this is done in applications for creating JT
files.

Check Apply Default Layer Filter when loading

data to display only the default layer filter of JT files
in the Graphic Viewer or clear it to display all the
data.

Note
• Objects not belonging to any layer are
displayed even when Apply Default Layer
Filter when loading data is active.
• Apply Default Layer Filter when loading
data does not affect Set Modeling Scope. This
command always loads all the data.
• All objects appear in the Object Viewer, even
those filtered out of the Graphic Viewer.
• Filtering of PMIs is not supported.
• When an object is opened for modeling
with Set Modeling Scope, all its layers are
displayed. After performing End Modeling,
the data is filtered according to the default
filter. The exception to this rule is that objects
added during the modeling session are fully
displayed.

Define the PMI types that will be loaded Click PMI Types to configure which annotation PMI
types are loaded by PMI. The Loaded PMI Types
dialog is displayed.

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General tab

Parameter Description

Use the arrow buttons to configure the Included

types and Excluded types lists as required.

Note
Process Simulate always loads Coordinate System
PMIs.

JT Version In the Save as dropdown list, select a JT

Version for new JT files. For your convenience,
Process Simulate indicates the Teamcenter Vis
and Tecnomatix versions compatible with each JT
version.

Note
This setting does not affect the JT format of the
Export JT command.

Special Behavior
Expand tree to show Graphic Viewer selection When set, the tree in the Object Viewer expands
to display and highlight the object selected in the
Graphic Viewer or Logical Collections viewer. Keep
this option unchecked to improve performance of
the Graphic Viewer.

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 General tab

Parameter Description
Approximation Tolerance Defines the tolerance when creating geometry
approximations. Configuring a greater tolerance
causes tasks to complete faster.

The approximation tolerance value is used only

during modeling. It determines the approximation
that will be created from the exact geometry of the
generated object. This approximation will be used
for the object viewing, collision and projection on
approximation. The exact geometry will be used in
modeling and during projection on exact geometry.
Update Prompt Check Every to enable Auto Save and set the
frequency (in minutes) of the pop-up reminder
which prompts you to save your work.

Note
Initiating a regular save operation resets the Auto
Save timer.

See also Auto Save.

Messages Click Messages to display the Message Options
dialog box.

In the Message Options area, click Retrieve to

retrieve messages that were suppressed using the
Do not show this message again option.

In the Special Behavior area, the Show errors in

prompt line only option enables you to display all
system messages in the prompt line of the Status
Bar at the bottom of the Process Simulate window.

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Graphic Viewer tab

Parameter Description
When not selected, system messages are displayed
in a message box. You are required to acknowledge
the message by clicking OK.
Point Cloud Click Point Cloud to display the Point Cloud
Options dialog box.

Select a folder in which to store point cloud files

and click OK.

Graphic Viewer tab

The Graphic Viewer tab, includes parameters for specifying mouse viewing control and display
parameters, as well as other options to customize the graphic viewer display.

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 Graphic Viewer tab

The following parameters are included in the Graphic Viewer tab:

Parameter Description
Direct viewing When selected, mouse view options (zoom, pan
and rotate) are controlled by pressing and releasing
mouse buttons. Refer to Zoom to Fit for more
information.
Continuous viewing When selected, enables continuous viewing of the
selected mouse view option. For example, when
you hold down a mouse button to zoom in on

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Graphic Viewer tab

Parameter Description
an object and then release the button, the zoom
action continues according to the viewing speed
specified by the Continuous Viewing slide bar.
Primary light source intensity Slider to control lighting in the display. Using this
adjustment, in conjunction with the secondary
light source to help to improve the visibility of 3D
data
Secondary light source intensity Slider to balance the intensity of a secondary light
source in conjunction with the primary light source
in the Graphics Viewer.
Display manipulator plane handles When selected, white X-, Y- and Z- (linear) plane
handles are displayed on the Manipulator frame.
The plane handles can be used to drag components
around in the Graphic Viewer, when using the
Placement Manipulator tool.
Display contextual toolbar for selected object When this option is set, selecting an object in the
Graphic Viewer displays a small contextual toobar
with commonly-used tools for the selected object.
For example:

Display global working frame When selected, displays the global working frame
for the current scene. See also Set Working Frame.
Display self frame When selected, displays the self frame of selected
components. See also Set Self Frame.
Enable Selection preview When set, hovering the mouse from one object
to another in the Graphic Viewer highlights each
subsequent object with a selection preview color as
the previous object returns to its non-highlighted
color.
Display tooltips When selected, displays a tooltip when the arrow is
positioned over an object displayed in the Graphic
Viewer.

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 Motion tab

Parameter Description
Animated viewing When this option is set and you skip between
different view points, the view changes gradually
from one view point to the next, similar to playing
a movie. When clear, the view jumps immediately
from one view point to the next.
Display viewer toolbar When this option is set, the Graphic Viewer displays
a toobar with commonly-used tools. For more
information, refer to Graphic Viewer Toolbar.
Enable anti-aliasing Move the slider to balance between the quality
of the graphic display (smoother lines) and
performance speed. Changes are applied next time
you launch the application.
Feature line angle In Wireframe Mode, Feature Lines, and Feature
Lines Over Solid modes, the Graphic Viewer can
draw feature lines at the border of neighboring
planes when the breaking angle between the
planes is between 1 and 45 degrees. This field
enables you to set the minimum breaking angle
(the default value is 35 degrees).
Feature line width Enables you to set the width of the feature lines
between 1 — 3 pixels (the default value is 1 pixel).
Show silhouette in Wireframe Mode When set, silhouette lines are visible around objects
in the Graphic Viewer in Wireframe Mode. This
facilitates viewing of objects with low visibility. This
is also relevant for Feature Lines, and Feature
Lines Over Solid modes.

Note
Silhouette lines are not pickable.

Navigation Settings Refer to Navigation settings. This opens the same

dialog box as when clicking the Settings button

( ) beside the Navigation Cube.

Motion tab

The Motion tab, shown below, includes parameters for specifying limits and simulation time intervals.

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Motion tab

The following parameters are included in the Motion tab:

Parameter Description
Limit joint motion When set, robot joints stop moving when they reach their physical limits. When
cleared, robot joints move freely, overriding all joint limits (both physical and
working).

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 Motion tab

Parameter Description
For information on physical and working limits, refer to Limit joint motion. You
can also use this command to toggle Limit joint motion without accessing the
Options dialog.
Indicate joint When set, Process Simulate calculates and displays joint limit color indications.
working limits
This parameter can be toggled by Indicate joint working limits without
accessing the Options dialog.
Highlight joint When set, the Graphic Viewer displays joint limit color indications.
limits in Graphic
Viewer
Note
This option consumes a large amount of computer resources. The system
prompts you before enabling it.

Joint working limits Enables you to configure joint working limits, as described in Limit Joint
Motion. You can enter limits in one of the following ways:

• Percentage - The working limit is a percentage of the soft limits range (=

upper limit – lower limit). You can set the working limit between 0% and 30%
of the soft limits range.
• Absolute - Enter absolute working limit values for Prismatic joints and
Revolute joints.

After editing these parameters, the system only updates the display after you
request a recalculation.
Use location When set, the system acquires simulation information from locations or from
information in static the parent operation. In this case, the result of static robotic applications
applications (Pie Chart, Smart Place, Automatic Approach Angle, Reach Test, Weld
Distribution Center, or Multi Section Viewer) is identical to that of simulation.
Therefore, some application fields will be inactive and you will not be able to
edit simulation information.

Additionally, when this option is set, static robotic applications also provide
support for external axes whose values are defined.

When cleared, the system does not acquire information from the simulation
and you must enter different simulation information in the relevant application,
achieving different results.

Simulation information includes the robot name, the gun, and TCPF on the
location or operation.

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Performance tab

Parameter Description
Robots Macro files Name of the library where macro files for the robots are stored. Click Browse to
folder navigate to the location.
Auto-inflate created The system creates swept volumes with the accuracy you set in Swept Volume
Swept Volumes by or Interference Volume. Therefore, the generated swept volume may be
Accuracy larger than the requested one by any amount up to the configured accuracy
(positive deviation) or smaller than the requested one (negative deviation). In
some cases, a negative deviation may have unintended results. For example, a
suitable simulation runs (no collisions) and yet the collision of a real robot on
the factory floor still occurs. Auto-inflate created Swept Volumes by Accuracy
is set by default and prevents negative deviations. This is a trade-off, as there
may be twice the positive deviation and you may get false simulated collisions.
This feature has no effect on the swept volume safety clearance. For more
information, refer to Robot Swept Volume.

Performance tab

The Performance tab, shown below, includes parameters for specifying the level of quality of display and
graphics performance.

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 Performance tab

Level of details Change the level of details shown in the Graphic Viewer between high quality
and improved performance by moving the slide bar to the desired position.
Enable automatic When Cull Parts is selected, items that take up less than the specified
usage of cull parts percentage of the screen are not displayed. This helps to reduce clutter and
assists you in concentrating on features of interest. Decreasing this value causes
a more detailed visualization of objects and increasing it results in a faster
graphical response.

This feature works dynamically and it hides/reveals items according to the

quantity of items currently displayed and the zoom level. If the quantity of items
displayed is drastically reduced, for example after blanking objects, Cull Parts

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Performance tab

is automatically deactivated. Conversely, if the quantity of items displayed is

drastically increased, for example after importing objects, Cull Parts is activated.
OpenGL By default, the system selects the highest version supported by the hardware
acceleration level (graphic card type). If this causes graphic distortion you can select a lower
OpenGL version. Changes are applied next time you launch the application.

Note
Be aware that this could result in deactivating some of the advanced graphic
features and in slower performance.

For Virtual Machines and Remote Desktop connections the highest supported
OpenGL acceleration level is V1.1 (Baseline rendering functionality).

Upon loading, if To improve graphic performance, parts that take up less than this percentage of
needed, cull parts the display are not shown. When you zoom in, the system recalculates the data,
with an area and previously hidden small objects may become visible. Conversely, zooming
less than this out may hide additional objects. This option is active by default but if you
percentage of the reactivate it, it only takes effect after reloading the data.
screen
Use background Enables the Graphic Viewer to display objects while data is being loaded.
loading You configure the graphic display redraw rate in number of seconds during
background loading. By default, this option is activated.
Fixed frame rate Ensures a minimum frame rate (Frames Per Second) for animations. To maintain
the frame rate, the Direct Model viewer reduces the display detail level if
necessary. By default, this option is not activated.
Memory Set the memory Limit value (in MB) to define the largest amount of memory
that the application is allowed to consume (200MB limit). When the system
reaches the memory limit, it always optimizes the graphic view by unloading
unused shapes to reduce memory consumption and avoid exceeding the limit.
If you select the option, it Displays a warning that the memory limit will be
exceeded

Note
If neither of these options is enabled, setting the memory limit has no effect.

Animation Activate the Adjust animation speed option to reducing the rendering content
during animation in order to achieve higher animation speed. This option affects
animated viewing, Zoom to Fit and Zoom to Selection.

• In most cases, the default performance parameter settings are satisfactory. Only make changes if you
are encountering a specific problem.
• The Level of details is a trade-off between higher graphics quality and improved system performance.
If the performance is too slow, move the Level of details slider towards Speed until you are satisfied

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 PLC tab

with the performance and can accept the reduced quality. If the graphics quality is not good enough,
move the Level of details slider towards Quality until you are satisfied with the graphics quality and can
accept the reduced performance.
• To improve graphics performance you can activate size culling. This option is not recommended if
components are fragmented into tiny shapes. You can also customize the cull size value to adjust the
balance between graphics performance and the amount of culled shapes.
• To reduce memory consumption:
◦ Change the Rendering mode from OpenGL Display Lists to OpenGL buffer Objects.
◦ Move the level of details slider towards Speed and/or activate size culling. This decreases the initial
memory consumption required for loading large amounts of data (because less shapes are loaded)
and also improves performance. However, after a long workflow in which you zoom-in to different
regions of the 3D data, the shapes that were not loaded at startup will be gradually loaded. You can
combine increasing Speed together with a memory limit to create a stable environment.
• For 32bit systems: Set the memory limit value (in MB) to define the largest amount of memory that the
application is allowed to consume.
◦ The memory value limit default value is 2000 MB. Reducing this value decreases the likelihood that
the system will crash due to having exceeded available memory resources. However, this slows down
performance when loading very large amounts of data and executing zoom/pan operations.
◦ The memory limit can help only if the amount of data that can be unloaded without affecting the
functionality is large enough. If you do not have sufficient memory for the initial load of the scene,
this option is not effective. If you managed to load the data, performing zoom/pan unloads shapes
(that become invisible) to load other shapes that require visualization.

• When you reach the memory limit, the system performs one or both of the following:
◦ Optimizes the graphic view by unloading unused shapes to reduce memory consumption and
avoid exceeding the limit.
◦ Displays a warning that the memory limit is about to be exceeded.
• For Windows XP 32bit: When there is insufficient memory to load large data sets, Siemens
recommends turning on the /3GB Boot parameter. For details on configuring /3GB, refer to http://
msdn.microsoft.com/en-us/library/ff556232.aspx.

PLC tab

PLC settings tab

The PLC tab, shown below, enables you to define parameters relating to the type and location of the log
file maintained by the system, as well as the type of simulation used.

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PLC settings tab

The log file is a text record of user actions, software messages, and system errors of various levels. There
are five severity levels: 1 - Software messages, 2 - User actions, 3 - System safe actions, 4 - System
unsafe actions, and 5 - Errors.

The PLC tab includes the following fields:

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 PLC settings tab

Field Description
Log File Directory Specifies the path of the log file directory. The default location of the log file
is Program Files\Tecnomatix\eMPower\PLC\plc.log. You can select any file by

clicking and browsing to the required directory.

When you change the log file directory, the new setting takes effect only when a
new file is opened.
Level of Specifies the minimum security level of notifications that are written to the log
Notifications file.
Append to existing Determines if a new log file is created for each Process Simulate session. If this
file checkbox is selected, the log messages for each new session are appended to
the existing file. If this checkbox is clear, the system creates a new log file for
each session, overwriting the existing file.
Connectivity • CEE (Cyclic Event Evaluation): Configures Process Simulate to operate in the
event-based simulation mode. This is the default setting. For details, refer to
Event-based Simulation module.
• S7-PLCSIM
• External Connection hardware simulation - this is the default setting. For
information on simulating external devices, refer to OPC simulation. You can
connect to any of the following:
◦ OPC DA servers
◦ OPC UA simulation servers
◦ Simulation Unit PNIO devices
◦ PLCSIM Advanced devices
◦ WinMOD servers
◦ SIMIT: Configures Process Simulate to run OPC simulation with virtual time
when using SIMIT as the OPC server. In this configuration, the timing of
Process Simulate and SIMIT are synchronized. Process Simulate connects
to SIMIT as a client and SIMIT is responsible to advance the simulation
time of Process Simulate. Before continuing to the next virtual time step,
SIMIT waits for Process Simulate to acknowledge that it has completed all
the required actions for the current virtual time step. This configuration
provides the following SIMIT benefits to Process Simulate:
◊ Emulation of soft PLCs.
◊ Greater simulation accuracy.
◊ Full synchronization between Process Simulate and SIMIT.
For more information, see To Configure Simit Connections.
◦ Rockwell (ControlLogix devices).

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PLC settings tab

Field Description
◦ Mitsubishi (i-QR Series)
Update Rate

Note
This parameter is only relevant to OPC DA external connections. It has no
impact on other external connection types.

Defines the rate of exchange of I/O values between the OPC DA server and
Process Simulate. It is recommended to keep this value the same as that of
Simulation Time Interval.
For information on how to connect to external hardware devices, refer to
Configure External Connections.
Simulation The Logic update rate determines the logic evaluation rate for logic blocks, SCL
blocks, conveyors and the Modules viewer soft logic, and assists in configuring
optimal performance.
Conveyors Stacking accuracy—This parameter applies to skids and conveyable parts.
If their conveying frame is within the range of the conveyor Collision
Tolerance, as defined in the Define Conceptual Conveyor dialog box (refer to
Define Conveyor), then Stacking Accuracy defines the maximum absolute
contact distance (separation or penetration) between the objects when a skid/
conveyable part has stopped on the conveyor and the following skid/parts stack
up behind it. By default, this is set to 0.1mm but you can maximize accuracy up
to 0.01mm (highest setting is 100mm).
Material Flow You can set the following options (which are also accessible in the Material
Flow Viewer):

• Enable automatic Material Flow - By default, the system generates part

appearances on all parts/stations. When this option is set, part appearances
are only generated on parts/stations (assigned to the operation) that are
inside the material flow.
• Keep Part Appearances on Play - By default, existing part appearances in
the material flow are deleted at the start of operation simulations. When the
simulation is complete, all the appearances in the flow are those that have
been created by the simulation.
When this option is set, the part appearances currently existing in the scope
of the flow are not deleted before the simulation runs.
◦ If you have set Keep Part Appearances on Play, you can also set Restore
Part Appearances on Reset. In this case, the properties (assignments,
visibility, color) of all the part appearances are restored to their state prior
to simulating the operation when you reset the operation.

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 Configure a PLCSIM (Classic) connection

Field Description

Note
Changes you make to the Material Flow settings are automatically
synchronized with the Material Flow settings dialog box - and vice versa.

Note
Transition Conditions are entirely disregarded in PLC mode. To start operations in PLC mode you need to
use START signals, though for Robotic operations it is recommended using program and Robot Default
Signals.

Then operations that are expecting a true transition condition and no start signal in PLC mode, do not
start.

Configure a PLCSIM (Classic) connection

You can use the Siemens PLCSIM emulator to emulate PLC code behavior for debugging or virtual
commissioning.

Procedure

1. In the Connection area of the PLC tab, select S7-PLCSIM.

2. In the Signal Viewer, set the relevant PLC Connection cell for the signals to be exchanged with the
PLCSIM emulator.

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Configuring external connections

Note
If the interface between PLCSIM and Process Simulate stops working, set the simulation mode to
CEE (Cyclic Event Evaluation), run any simulation briefly, and then reset the simulation mode back
to PLCSIM.

3. Run your simulation.

Configuring external connections

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 PLC connectivity

PLC connectivity

Commissioning is the last engineering step in the process of creating or changing a production line.
During commissioning, much time is wasted on fixing software errors as the control code is usually only
thoroughly tested once the hardware is in place. Virtual Commissioning (VC) enables you to shift much
of the commissioning process to an earlier stage by building a full simulation model of the plant. You
can then connect the virtual model to the real control system while running other steps of the process in
parallel, such as purchasing and assembly of equipment in order to verify the full plant and control designs
without delaying production.

Process Simulate provides the following connection methods for communication between the event-based
simulation and an external device such as a PLC (Programmable Logic Controller):

• CEE (Cyclic Event Evaluation)

• PLC
◦ S7-PLCSIM v5.4
◦ External Connection (emulation)
◊ OPC DA (OPC Data Access)
◊ OPC UA (OPC Unified Architecture)
◊ Simulation Unit (formerly Simba Box)
◊ PLCSIM Advanced
◊ WinMOD
◊ SIMIT
◊ Rockwell
◊ Mitsubishi
◊ User-defined external connection
◊ PLC Resource

Note
Process Simulate communicates with external devices using the bit order (numbering scheme) of the
external device. If you have created a conversion matrix to convert the bit order manually, this is
likely to cause a mismatch when communicating via Process Simulate. Therefore, it is recommended
to remove the conversion matrix at the source. Alternatively, you can create a reverse conversion in
Process Simulate so that the communication flows correctly between the two external devices.

Configure external connections

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 Process Simulate enables you to connect to third-party software and hardware. You can connect to
a programmable logic controller (PLC) via: OPC DA, OPC UA, Simulation Unit, Siemens Soft PLCSIM
Advanced, Siemens SIMIT, Rockwell, or make a direct connection to a co-simulation tool such as WinMOD.
This is done as follows:

Procedure

1. Create an external connection, as described below.

2. Create a PLC Resource.
3. Assign an external connection to the PLC resource. Refer to Create PLC Resource.
4. Assign a signal to a PLC resource using the Signal Viewer, as described in Displaying Input/Output
Signals.

The following diagram shows a signal being connected to PLC resource using the Signal Viewer and
assigning an external connection to the PLC resource using the Engineering tab of the Properties Viewer.

To create an external connection

Procedure

1. In the Connectivity section of the PLC tab, select External Connection, and set the Update rate.
This specifies the item refresh rate in milliseconds which is requested from the remote servers upon
connection.

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 To create an external connection

Note
The Update rate does not affect the rate at which logic components in Process Simulate are
evaluated during simulation.

2. Click Connection Settings.

The External Connections list appears.

External Connections lists each connection together with the following information:
• The Name of the connection.
• The connection Type: OPC_DA , OPC_UA , Simulation_Unit, PLCSIM_Advanced, WinMOD, SIMIT,
Rockwell, Mitsubishi, or User_defined.
• The Server to which the connection refers. The server name is listed for OP connections (OP DA or
OP UA) and for Remote PLCSIM Advanced connections. For Simulation Unit connections, this cell
displays N\A, and for local PLCSIM Advanced and SIMIT connections local is listed.
• The Item Header of the connection shows the Item Header for OP DA and Simulation Unit
connections only.
• The NameSpace Index on the server. This defines the location where Process Simulate and the OP
UA server share signals.
• The Instance Name of a PLCSIM Advanced PLC instance.

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To create an external connection

• The Communication Element for a WinMOD or SIMIT instance. This element coordinates between
Process Simulate signals and WinMOD or SIMIT signals.
• The Map Signals By method for mapping the signal: Server address (for Siemens addresses only)
or Signal Name. For a WinMOD instance, only the Signal Name method is available.
3. To add a new external connection, click Add and select one of the following connection types.

• OPC DA - Configures Process Simulate to act as an OPC DA (Data Access) client, based on the OPC
DA standard for interfacing with PLC servers, regardless of vendor. This enables you to connect
Process Simulate to a real PLC device via a local or remote OPC DA server, and to run a virtual
commissioning simulation through that server using the OPC data transfer standard. Creating
multiple OPC connections enables you to interface with multiple PLC servers.
• OPC UA - Enables you to create a connection between Process Simulate and any OPC UA (Unified
Architecture) server, and to synchronize Process Simulate with a large selection of PLC devices via
the OPC UA server.
• Simulation Unit – Enables you to create a direct connection between Process Simulate and a
Simulation Unit Box (over API). The Simulation Unit enables it’s connection to a PLC as well as the
emulation of a physical automation network (Hardware Configuration) and Safety devices.
• PLCSIM Advanced - Enables you to add a connection to programs developed in Siemens TIA Portal
(Totally Integrated Automation Portal) and simulated by PLCSIM Advanced (on remote or local
machines).

Note
Support is provided for Siemens FA PLCSIM Advanced version 2.0 only.

• WinMOD - Enables you to create a direct connection between Process Simulate and a WinMOD
communications model, and coordinates between the signals in both systems.
• SIMIT - Enables you to add a connection to programs simulated by Siemens SIMIT.

Note
Support is provided for Siemens SIMIT version 10.2 or higher.

• Rockwell - Enables you to create a direct connection between Process Simulate and a Rockwell PLC
device or emulator, and to coordinate between the signals in both systems.

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 • Mitsubishi - Enables you to create a direct connection between Process Simulate and a Mitsubishi
I-QR PLC device, removing the complexity of setting up Mitsubishi servers.
• User-defined external connection - Enables you to create a direct connection between Process
Simulate and a custom user-defined communications model, and perform signal exchange
between the systems.
4. Click Validate in the External Connections dialog box. A connection confirmation message is
displayed. If the connection cannot be found or if it is not running, an error message is displayed.
5. Optionally, do any of the following:
• Select an existing connection and click Edit if you wish to modify the connection properties (refer
to the relevant add connection topic for detailed explanations of the required parameters).
• Select existing connection(s) and click Remove if you wish to delete them.
• Import or export connections, as follows:
Process Simulate enables you to import and export the connection list from, and to an Excel file of
type *.XLS or *.XLSX.

Name
Item Space Instance Map
Name Type Server Header Index Name Signals By
Example OPC_DA ILOPCTESTPC Static N/A N/A Signal
Scalar Name

The Name, Type, Server, Item Header, and Map Signals By columns are mandatory. For
WinMOD and SIMIT, the Communication Element is also mandatory. You may add another
column to your file, for example, Comment but this is not imported.
◦ To import connections, click Import, navigate to the desired Excel configuration file, and click
OK. The system imports the connections and highlights them. If you are importing a signal that
already exists, the system prompts you to confirm overwriting it. If the import fails, the system
prompts you to view the log file.

Note
If the Excel file lacks a Type column, the system sets the Type of all the imported signals to
OPC_DA.

◦ To export connections, click Export, choose a file name and location, and click Save. Ensure the
target file is closed, otherwise the export fails.
6. Click OK to close the External Connections list.

When you run a simulation in Process Simulate, the external connection dialog box appears as a
communication interface for exchanging input and output signals. While the simulation is running you
can set I/O signals in Process Simulate and in the external communication module.

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Create an OPC DA connection

Rockwell SiL (Software in Loop) with ECHO is supported.

Create an OPC DA connection

OPC Classic is based on Microsoft’s OLE environment and is based on a client/server modular architecture.
The OLE COM technology must be installed in the operating system. OLE for Process Control (OPC) defines
standard objects, methods, and properties for meeting the interoperability requirements of real time
process automation applications. These requirements include:

• A standard technique for addressing information contained in process control devices/systems.

• Efficient transfer of data from a process device to an application.
• The ability for a client to use several servers simultaneously.
• Server-specific configuration support.

Most automation vendors support the OPC interface as a means to access various types of data between
host system computers and general purpose Windows applications, other than operation and monitoring
functions. Process Simulate utilizes the OPC Data Access server, which reads (collects) and writes (sets) the
current values of process data using item IDs (variable names) as data identifiers.

OPC DA simulation prerequisites

After installing the vendor-provided OPC server, reboot your computer and use the test client to verify the
server is working correctly.

When Process Simulate is installed on a 64bit operating system, the OPC core components (x64) must be
installed or there will be no connectivity between Process Simulate and any OPC server. This must be done
regardless of whether the OPC server is running in native 64bit mode or in 32bit mode or even in a remote
32bit environment. When correctly installed the Task Manager displays the OpcEnum.exe process.

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 OPC DA simulation prerequisites

The following is a functional diagram of the Process Simulate Commissioning (PSC) – OPC DA
communication:

When running in OPC mode Process Simulate acts as an OPC client. This means that in order to exchange
values with the OPC server the same identifiers must exist. These identifiers are normally given as variable
names (signals in PSC). It is the user’s responsibility to verify that the variable definitions in the OPC server
and in Process Simulate match. Reading or writing mismatching variables is a critical error and terminates
the simulation immediately with an error message.

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To create an OPC DA connection

To create an OPC DA connection

After selecting OPC DA Connection in the External Connections dialog box (refer to To Configure
External Connections),

the Add OPC Data Access Connection dialog box appears.

Alternatively, select an existing OPC DA connection in the External Connections table, click Edit, and edit
the connection parameters.

Procedure

1. Enter a meaningful Name for the new OPC DA connection. Each connection must have a unique
name (non-unique names are not allowed).
2. Select an OPC server by typing its name, and set the Item Header to the path from which the OPC
server retrieves, and to which it writes simulated process information.
Or
Select an OPC server by browsing for it as follows:

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 a. Click .
The Browse for OPC DA Server window opens.

The Servers pane displays the available OPC servers. The Nodes pane displays the available
connection aliases for the selected OPC server.
b. Double-click the required OPC server in the Servers pane.
The connection aliases appears in the Nodes pane. In the following example, the alias names
available are Digital and Analog.

c. In the Nodes pane, select the alias of the required OPC server and click OK.
The OPC Browser closes and the alias of the selected OPC server appears in the Item Header
field in the PLC tab.
d. In the Item Header field, add the appropriate separator character to the OPC server alias,
according to the following table:

OPC Server Type Separator Character

Siemens .
Schneider !

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Create an OPC UA connection

OPC Server Type Separator Character

ABB !
Phoenix .

The following example shows the appearance of the alias in the Item Header field after adding
the separator character. In the example, the separator character is an exclamation mark (!).

3. In Map signals by, select Signal name or Server address (relevant only for SIMATIC NET OPC DA
servers).
4. Click OK to save your changes.

5. Click Validate in the External Connections dialog box after creating the new connection to verify the
connection.

Create an OPC UA connection

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 After selecting OPC UA Connection in the External Connections dialog box (refer to To configure
external connections),

the Add OPC Unified Architecture Connection dialog box appears.

Alternatively, select an existing OPC UA connection in the External Connections table, click Edit, and edit
the connection parameters.

Note
The dialog box continually warns that the OPC UA connection is anonymous (not secured on the server
side).

Procedure

1. Enter a meaningful Name for the new OPC UA connection. Each connection must have a unique
name (non-unique names are not allowed).

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 2. Type in an Server Endpoint URL and NameSpace Index.
OPC UA servers which offer a user interface often provide this information.

or
Click to expand the Add OPC Unified Architecture Connection dialog box and proceed as follows:

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 a. Enter the Host Name and Port number for the machine running the OPC UA server and click
to browse the OPC UA server and find available Server Endpoints.
b. From the Server Endpoints list, select the desired server endpoint.
The bottom panel displays a list of nodes seen by the PS OPC UA client. To automatically detect
and retrieve the NameSpace Index and Item header from the server, expand the desired node
and select the relevant child node.

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 The NameSpace Index and Item header are inserted.
The Item header string is appended to the signal name of any signal sent or read from the OPC
UA server during simulation.
3. Click OK to confirm and close the dialog box.
4. Click Validate in the External Connections dialog box after creating the new connection to verify the
connection.

Note
Successful validation indicates that an OPC UA server has been found as specified, but does not
guarantee successful IO communication.

I/O (signal) exchange between Process Simulate and an OPC UA server is based entirely on signal names. In
OPC UA this correlates to a Node ID, thus, in order to exchange signal values over an OPC UA connection,
the signal name in Process Simulate must exactly match the Node ID in the OPC UA server (signal name is
case sensitive), and the NameSpace Index must be correctly defined.

Signal types should be mapped according to the following table.

Note
For a complete list of supported signal types, refer to Signal Types.

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 Resolving connection errors

OPC UA Data Type Process Simulate Data Type

Boolean BOOL
Byte BYTE
ByteString Not supported
DateTime Not supported
ExpandedNodel Not supported
Float REAL
Guid Not supported
Int16 INT
Int32 DINT
Int64 Not supported
LocalizedText Not supported
Noded Not supported
QualifiedName Not supported
SByte Not supported
String Not supported
Structure Not supported
Time Not supported
UInt16 WORD
UInt32 DWORD
UInt64 Not supported
XmlElement Not supported
Double LREAL

Resolving connection errors

Process Simulate reports OPC UA communication errors in the Simulation Monitor. For example,
BadNodeID.

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Create a simulation unit connection

You can edit the connection, verify the NameSpace Index and Item header from the server, and try to
correct the problem.

Create a simulation unit connection

Preparatory step before launching the connection

Procedure

1. Rename the <Installation folder>\eMPower\bin\SimbaPro folder.

2. From Siemens, download the latest Simulation Unit installation software folder.
3. Move the new folder to <Installation folder>\eMPower\bin\SimbaPro.
4. Rename the new folder SimbaPro.

After selecting Simulation Unit Connection in the External Connections dialog box (refer to To
Configure External Connections),

the Add Simulation Unit Connection dialog box appears.

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 Alternatively, select an existing simulation unit connection in the External Connections table, click Edit,
and edit the connection parameters.

Procedure

1. Enter a Name for the new Simulation Unit connection. Each connection must have a unique name
(non-unique names are not allowed).
2. Define the Hardware index an integer value between 0 and 31 - Process Simulate can
communicate with up to 32 external devices simultaneously. This should be taken from the
Simulation Unit software. After you have entered the hardware index, the system displays the
complete Item Header; this is composed of the S0 prefix followed by the hardware index. For a single
Simulation Unit connection the Hardware Index is typically 0.Item Header updates automatically
according to the Hardware Index you set and is comprised of a fixed S0 prefix followed by the
Hardware Index.
3. Click OK to confirm and close the dialog box.
4. In the External Connections dialog box, click Settings and specify a Project Path to specify the
Simulation Unit project file (.spf file).

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Create a PLCSIM Advanced connection

5. In the External Connections dialog box, click Validate after creating the new connection to verify
the connection.

Create a PLCSIM Advanced connection

Note
• The following table details which versions of Process Simulate are compatible with which versions of
PLCSIM Advanced:

Process Simulate version PLCSIM Advanced version

Below 13.1.1 N/A
13.1.1 to 14.1 V1.0 or higher
14.1 to 16.1.1 V2.0 or higher
17.0 or higher V4.0 or higher

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 The TIA Portal documentation provides compatibility information between PLCSIM Advanced and TIA.
• For information on a-cyclic communication with PLCSIM Advanced using a data buffer, refer to A-
Cyclic communication with PLCSIM Advanced using SCL.

After selecting Add PLCSIM Advanced in the External Connections dialog box (refer to To Configure
External Connections),

the Add PLCSIM Advanced Connection dialog box appears.

Alternatively, select an existing PLCSIM Advanced connection in the External Connections table, click
Edit, and edit the connection parameters.

Procedure

1. Type a meaningful Name for the new PLCSIM Advanced connection. Each connection must have a
unique name (non-unique names are not allowed).

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 2. If PLCSIM Advanced is running on the same computer as Process Simulate, retain the Host Type
default setting of Local, and then select an Instance Name from the list of currently running
instances (every instance can be accessed by a single connection and once a connection to a specific
instance is defined, it is removed from the list).
Or
If PLCSIM Advanced is running on a remote computer (not the same computer as Process Simulate),
set Host Type to Remote.

Proceed as follows:
a. Enter the Host Name and Port for the machine running the PCMSIM Advanced server, or click

Load to display a list of available instances on the host.

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 b. Select the relevant instance.
3. Set Map Signals by one of the following:
• Server address—The Tag access option is set to IO and you can only access PLCSIM Advanced
input and output signals.
• Signal name—You can set the Tag access option to one of the following.

Note
Each of the these options uses more computing resources than the previous option.

◦ IO—You can only access PLCSIM Advanced input and output signals.
◦ IOM—You can access PLCSIM Advanced input and output signals and memory signals.
◦ IODB—You can access PLCSIM Advanced input and output signals and data blocks.
◦ IOMDB—You can access PLCSIM Advanced input and output signals, memory signals, and data
blocks.

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 Note
The Tag access option you select also specifies which signals are extracted by the Extract signal
list from S7 program command.

4. Click OK to save the new connection.

5. In the External Connections dialog box, click Settings.

The PLCSIM Advanced Settings dialog box appears.

These settings affect all the configured PLCSIM Advanced connections.

6. Set the Simulation mode to one of the following values:
• Asynchronous—Process Simulate and PLCSIM Advanced simulations run with different clocks that
are not synchronized. As a result the elapsed time in each system may be different.
• Single step—decouples the timing of Process Simulate and PLCSIM Advanced so they run without
syncing the time with each other. Thus, one simulation clock (Virtual Time) Single step can
differ from the other, and an identical timer started at the same time in Process Simulate and

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 PLCSIM Advanced is likely to show different values in both systems. All PLCSIM Advanced instances
run in SingleStep mode (refer to the PLCSIM Advanced documentation for more information
about SingleStep). However, execution remains synchronized: Process Simulate triggers the next
PLCSIMAdvanced cycle and waits for it to finish.
In this case, you can also configure Cycle time-out. This is the period of time after which Process
Simulate aborts the connection if the PLC instance does not respond.
• Time Synchronized—Process Simulate and PLCSIM Advanced wait for each other as required in
order for their virtual clocks to run in sync; synchronization is based on the time. Thus, an identical
timer started at the same time in Process Simulate and PLCSIM Advanced retains the same value in
both systems.
In this case, you can also configure Cycle time-out. This is the period of time after which Process
Simulate aborts the connection if the PLC instance does not respond.

Note
All the PLCSIM Advanced instances run in the specified simulation mode (refer to the PLCSIM
Advanced documentation).

7. Click OK to save the settings.

8. Click Validate in the External Connections dialog box after creating the new connection to verify the
connection.

Note
• After configuring the PLCSIM Advanced external connection, you may want to import its signals into
the Signal Viewer. Use Extract to do this.
• When an external connection is running, you can use Extract S7 Signals to export the connection
signals to an Excel file from which you can import them into the Signal Viewer.

Create a WinMOD Connection

Note
Before creating WinMOD external connections:

1. From the WinMOD Customer Center, install WinMOD Net Setup on the machine running Process
Simulate.
2. Verify WinMOD is running, access Configuration → Project Settings → Communication tab, and
set accept connections. You can also find the required port number under port for connections.

After selecting WinMOD in the External Connections dialog box (refer to To Configure External
Connections),

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 the Add WinMOD Connection dialog box appears.

Alternatively, select an existing WinMOD connection in the External Connections table, click Edit, and
edit the connection parameters.

Procedure

1. Enter a meaningful Name for the new WinMOD connection. Each connection must have a unique
name (non-unique names are not allowed).
2. To specify the machine running WinMOD, do one of the following:
• If WinMOD is running on the same machine as Process Simulate, set Host Name to localhost.
• If WinMOD is running on any machine other than the one running Process Simulate, enter the Host

Name of that computer or click and navigate to the desired machine.

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 3. Set the Port (use the value of port for connections from the WinMOD Project Settings) and click
to detect all the WinMOD communication elements.
4. Select the relevant Communication Element for coordinating between Process Simulate signals and
WinMOD signals.

Note
• You can only use each Communication Element once. If you wish to create multiple WinMOD
connections, create a Communication Element (in WinMOD) for each connection.
• You can create the Communication Element in Process Simulate even if it does not yet exist in
WinMOD.

5. Optionally, type a Prefix for signal names. This string is prefixed to the name of any signal sent to
WinMOD during simulation. For example, if you type the prefix Station001, then the Start signal is
sent as Station001.Start.
6. Click OK to save your changes.
7. In the External Connection dialog box, click Validate after creating the new connection to verify the
connection.

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 8. Access the Signal Viewer and set the External Connection for each relevant signal to the name of
the external connection you configured.

Note
Clear the PLC Connection cell for any signal not participating in the simulation.

Note
• Connect WinMOD PLC output signals to Process Simulate resource output signals and WinMOD PLC
input signals to Process Simulate resource input signals.

• You can import signals into WinMOD (into the communication element) from an Excel file previously
prepared by exporting signals from the Process Simulate Signal Viewer.
• The following table shows terms used in Process Simulate and their counterparts in WinMOD:

Process Simulate WinMOD

BOOL BINARY
BYTE 08 Bit hexadecimal, (decimal 0 to 255)
INT 16 Bit signed decimal (decimal -32768 to +32767)
DINT 32 Bit signed decimal (decimal -2147483648 to +2147483647)
WORD 16 Bit hexadecimal (decimal 0 to +65535)
DWORD 32 Bit hexadecimal (decimal 0 to +4294967296)
REAL Analog: Only values between -100 and +100 are accepted by
WinMOD. To use values outside this range, use scaling.
LREAL Not supported

• Troubleshooting. If you fail to make a connection, check the following:

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 Create a SIMIT Connection

◦ If you fail to add a WinMOD connection, verify you installed WinMOD Net Setup from the WinMOD
Customer Center on the machine running Process Simulate.
◦ If your simulation will not start, verify you have clear the PLC Connection cell for any signal in the
Signal Viewer that does not have an external connection.
◦ If WinMOD is not receiving signals, verify you have set to correct (exact) connection name for the
signals in the Signal Viewer.

Create a SIMIT Connection

Create SIMIT connection in Process Simulate

After selecting SIMIT in the External Connections dialog box (refer to To Configure External
Connections),

the Add SIMIT Connection dialog box appears.

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 Note
SIMIT can only run locally, so Host name is inactive.

Alternatively, select an existing SIMIT connection in the External Connections table, click Edit, and edit
the connection parameters.

Procedure

1. Enter a meaningful Name for the new SIMIT connection. Each connection must have a unique name
(non-unique names are not allowed).
2. Optionally, type a Prefix for signal names. This string is prefixed to the name of any signal sent to
SIMIT during simulation. For example, if you type the prefix Station001, then the Start signal is sent
as Station001.Start.
3. Set the Communication Element for exchanging signals between Process Simulate signals and
SIMIT. It must correspond exactly to the Communication Element you set in SIMIT and it must be
unique.

Note
• You can only use each Communication Element once. If you wish to create multiple SIMIT
connections, configure a different Communication Element for each connection.
• You can create the Communication Element in Process Simulate even if it does not yet exist in
SIMIT.

4. Click OK to save your changes.

The new SIMIT connection is displayed in the External Connections dialog box.

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 Prior to running SIMIT - paste Process Simulate coupling into SIMIT

Prior to running SIMIT - paste Process Simulate coupling into SIMIT

Procedure

1. If necessary, install SIMIT v10.2.

2. Navigate to <Process Simulate installation folder>\eMPower\PLC and copy the Process
SimulateCoupling folder.
3. In your SIMIT installation, navigate to C:\Program Files (x86)\Siemens\Automation\Simit\SimitSF.
4. Create a new folder and name it Couplings.
5. Paste the folder you copied in the Couplings folder.

This will enable you to create a Process Simulate Coupling in SIMIT.

Create new coupling in SIMIT

Procedure

1. Open SIMIT.
2. Create a new project or load an existing one.

3. In the left panel, click New coupling.

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Create new coupling in SIMIT

The New Coupling Selection appears.

4. Select Process Simulate Coupling (this item was inserted under Extern after you executed the
preparatory step described above) and click OK.
The new Process Simulate Coupling appears in the left panel.

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 Create new coupling in SIMIT

5. Set the Communication element to the value you set when creating the SIMIT external connection
in Process Simulate. This configures the pipe used for signal exchange between Process Simulate and
SIMIT.

6. Double-click the new Process Simulate Coupling in the left panel to enable it.
7. Click Import to import signals.

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Create new coupling in SIMIT

8. Navigate to the signal file you had previously exported from Process Simulate and click Open.

Note
You can use any signal file as long as it includes the Signal Name, Address, and Type parameters
for each signal.

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 Run the simulation

Note
• Because SIMIT is acting as a PLC Server and Process Simulate is its client, Process Simulate output
signals are listed in Simit as Inputs and Process Simulate input signals are listed in SIMIT as
Outputs.
• The following table shows which Process Simulate signals are exchanged with which SIMIT
signals:

SIMIT Process Simulate

Binary Boolean
Analog Real and AReal
Integer All other signals

Run the simulation

Procedure

1. In SIMIT, click Play.

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Run the simulation

Note
You must play the simulation in SIMIT before playing it in Process Simulate.

The orange color indicates the simulation is running.

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 Create a Rockwell connection

2. In Process Simulate, reset the simulation and in the External Connections dialog box, click Validate.

If the SIMIT server is up and running, the Communication element is set to the same value in
both systems, and the Process Simulate simulation has been reset, then simulation runs in Process
Simulate and signal exchange between the systems begins.

Create a Rockwell connection

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 You can create a connection between Process Simulate and an external Rockwell PLC device from the
Rockwell ControlLogix, CompactLogix or FactoryTalk series or Logix Echo emulator.

• Prior to creating a connection to a Rockwell PLC device, you must first download the Rockwell
installation package from the Tecnomatix download section of the Support Center and install it.
• Ensure the Process Simulate signal names match the tag names on the Rockwell PLC device.

After selecting Rockwell (ControlLogix) in the External Connections dialog box (refer to To Configure
External Connections),

the Add Rockwell Connection (ControlLogix) dialog box appears.

Alternatively, select an existing Rockwell connection in the External Connections table, click Edit, and edit
the connection parameters.

Procedure

1. Type a meaningful Name for the new Rockwell connection. Each connection must have a unique
name (non-unique names are not allowed).
2. Use the Path in Studio 5000 to set the IP address, Local rack and CPU slot values according to the
location in which the Rockwell PLC device is installed.

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 Create a Mitsubishi connection

3. Click OK to save the new connection.

4. Click Validate in the External Connections dialog box after creating the new connection to verify the
connection.

Create a Mitsubishi connection

In Process Simulate, you can establish direct access to a Mitsubishi I-QR PLC, using the Options dialog box
External Connections, without needing to go through an OPC server.

The MC Protocol Settings dialog box allows you to configure the following settings:

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 Procedure

1. Type a meaningful Name for the new Mitsubishi connection. Each connection must have a unique
name (non-unique names are not allowed).
2. You can set the PLC IP socket and Port numbers.
3. Use the Module IO drop-down list of PLCs/CPUs.
4. You can set the Network port identifying number.
5. Use the Station id setting to determine the index for the I/O module.
6. It is possible to designate an ExStation external station.
7. You can set a Time Out value (in milliseconds), to set a time limit for a connection attempt to the
Mitsubishi PLC. Time out errors are displayed in the Simulation Monitor.

Create PLC Resource

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 Note
eMServer users who have migrated to Process Simulate on Teamcenter will not find the PLC Connection
and External Connection columns in the Signal Viewer. Instead of these, Process Simulate on
Teamcenter uses the PLC Resource column to enable you to select a resource for the specified signal.
Using the Properties Viewer, you can then select a connection for the resource, so that the signal is
allocated to a connection.

Procedure

1. Create a new PLC Resource, as follows:

a. In the Operation Tree, select a Teamcenter compound to be the resource parent object.

b. Choose Server tab → Scope group → New Object .

The New Object dialog box opens.

c. In the Object Type list, select Programmable Logic Controller.

d. Edit the default Name of the new resource, add a meaningful Description, and click OK.
The new resource is created and displayed in the Object Tree under the compound you selected.

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 2. Select the new resource.
3. Choose View tab → Screen Layout group → Properties Viewer to launch the Properties Viewer.
4. Select the Engineering tab.

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 User-defined external connections

5. In the External connections dropdown list, select the desired connection.

6. Click OK.

User-defined external connections

Create user-defined connection

If your organization has designed its own custom communication module, you can connect it to Process
Simulate as a valid external connection to simulate signal exchange. Siemens Digital Industries Software
provides an example custom connection module (in the \\eMpower\PLC\CustomConnectionDemo folder)
and the example project on which it is based.

To open a user-defined custom connection:

Procedure

1. Navigate to the \\eMpower\PLC\CustomConnectionDemo folder.

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To open a user-defined custom connection:

This folder contains the following files:

• CustomConnectionDemo.bat—Contains windows commands for registering the
CustomConnectionDemo.dll module. This requires the correct .NET platform version to be
installed on your computer.
• README.txt —Contains an explanation of all steps required for registering the demo connection.
• CustomConnectionDemo.dll—This is the DLL example file generated by the .NET example project
in eMPower\TecnomatixSDKHelp\Samples\ExternalConnections.
• CustomConnectionDemo.dll—This project contains an interface for creating custom connections
in Process Simulate and can be used to test signal exchange with Process Simulate.
• CustomConnectionDemoStudy.psz—You can load this study in Process Simulate to demonstrate
signal exchange between the CustomConnectionDemo module and Process Simulate.
2. Run CustomConnectionDemo.bat as an administrator. When registration of
CustomConnectionDemo.dll is complete, the following message appears.

3. Click OK.
4. Load the CustomConnectionDemoStudy.psz study in Line Simulation mode.
5. Choose File tab → Options group → PLC tab.
6. In the Simulation area, set PLC and click External Connections

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 To open a user-defined custom connection:

7. In the External Connections list, click Add.

Click MyCustomConnection.

8. Enter all the required parameters and click OK. to save the new user-defined connection in the
External Connections list.

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 The Communication Element contains a GUID. This is the windows registry key received after
executing Regasm.exe when registering CustomConnectionDemo.dll.
9. The new user-defined connection appears in the External Connections list. Click Validate.A
connection confirmation message is displayed. If the connection cannot be found or if it is not
running, an error message is displayed.

When you run a simulation in Process Simulate, the external connection dialog box appears as a
communication interface for exchanging input and output signals. While the simulation is running you
can set I/O signals in Process Simulate and the external communication module.

User-defined connection example

The following is an example of a custom user-defined external connection for Process Simulate, built using
the .NET example project provided at EMPower\TecnomatixSDKHelp\Samples\ExternalConnections. To

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 User-defined connection example

build this connection, you need to understand the COM Interface and how to build simple COM Objects
and you need programming skills in .NET, C#, or another language.

Custom connection COM Interfaces

COM objects must inherit and implement a set of COM interfaces distributed in the Process Simulate library
content. Process Simulate includes several COM interfaces, which provide a set of methods that establish
the connection to the Process Simulate simulation engine and communicate with Process Simulate using
I/O signals. For your implementation, you can use any technology or language that supports COM
implementation.

This example uses .NET and C# to implement a custom connection. The .NET Library project implements
the COM interfaces as a C# COM class:
EMPower\TecnomatixSDKHelp\Samples\ExternalConnections\external.connection.demo.cs\ExtConnD
emo\DemoExternalConnection.cs

The following shows the content of the DemoExternalConnection.cs file. Click here to download the file.

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User-defined connection example

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 Process Simulate - Connect Directly to Mitsubishi Hardware PLC

You can find detailed information about the implementation of all interface methods in the example
project at EMPower\TecnomatixSDKHelp\Samples\ExternalConnections\. The project also implements a
simple user interface for visualizing and controlling signal values, and you can adjust this as needed to
develop any custom connection.

After implementing the COM based external connection, you must register it under Windows: For .NET
applications, use RegAsm.exe, and for C++ ActiveX implementations, use regsvr32.exe.

After registration is successful, create and execute a .reg file with the following content:

Windows Registry Editor Version 5.00

[HKEY_CURRENT_USER\Software\TECNOMATIX\TUNE\ExternalConnections\{98EC1520-68CE-4965-
B851-8CE8DC5C06B6}]

@="ExtConnDemo"

Note
The GUID, shown here as 98EC1520-68CE-4965-B851-8CE8DC5C06B6, should be the same as the one
used to define the COM object (see above).

After registration, Process Simulate is able to discover the custom connection and display it for use in the
External Connections list.

Process Simulate - Connect Directly to Mitsubishi Hardware PLC

Description

This document describes how to install and use the Process Simulate External Connection for Hardware-in-
the-Loop (HiL) Mitsubishi PLCs.

The application enables direct communication between Process Simulate and Mitsubishi Melsec
Programmable Controllers such as iQ-R, iQ-F and iQ-Q series and without the need for any 3rd-party
software (as is the case for OPC-based communication).

The following figure describes a typical Process Simulate work environment when connecting to Mitsubishi
Automation using a direct connection.

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Process Simulate - Connect Directly to Mitsubishi Hardware PLC

Setting up connections to Mitsubishi PLCs

The Mitsubishi Direct connection application can be downloaded from the Tecnomatix Downloads section
of the Siemens Support Center. Install it on a PC or machine already running Process Simulate. The
following table gives details of compatibility with Process Simulate versions.

V1.0 Mitsubishi
Connection
Process Simulate version Comments
Up to 16.1.1 - Not Supported
16.1.2 or higher V1.0 Requires installing all latest hotfixes for this version

Capabilities

The Tecnomatix Mitsubishi PLC connection can exchange tags directly between Process Simulate and
Mitsubishi Melsec PLCs.

Create an external connection to a Mitsubishi PLC

Once installed, the application enables you to create an external connection like any other external
connection in Process Simulate:

1. Create a new external connection from the Options → PLC → Connection Settings dialog box.

2. Define the settings of the target PLC:

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 Process Simulate - Connect Directly to Mitsubishi Hardware PLC

Name Name of the external connection created in Process Simulate

The IP Address of the PLC. Copy this from the PLC definition in GX Works
PLC IP (Ethernet Configuration)
The number of the communication port. Copy this from the PLC definition in GX
Port works (Ethernet Configuration)
Module IO Set to CPU | OWN_STATION
Network Set to 0
Station Set to 255
ExStation Set to 0
If no response is received from the PLC, the connection is terminated after this
Time Out amount of time. The default time is 2000ms

The following figure indicates how to find the IP Address, rack and slot number of the PLC in GX
Works3:

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Process Simulate - Connect Directly to Mitsubishi Hardware PLC

3. Click Validate to test the connection.

4. Assign signals to the new connection, using the Process Simulate Signal Viewer. Do this the same way
you assign signals in other OPC connections.
This exchange is name-based. Signals in Process Simulate must be named to match the tags in the
GxWorks project. See below for details about Tag Access.
5. Run the simulation.

Signal Access

Signal Names

The names of Process Simulate signals must match the Device Names in the PLC (X50) - see below for
example.

Siemens Digital Industries Software recommends using the Comment attribute in Process Simulate for
more descriptive signal names.

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Signal Types

The Process Simulate Mitsubishi External Connection currently supports Boolean, WORD and DWORD type
signals.

Other signals types must be converted to the supported types before being sent to the PLC using Logic
Blocks or SCL Block converter functions.

Known Limitations and Certification

• With large data sets it is possible to experience performance issues. Siemens recommends only
exchanging essential tags when possible, to minimize communication and improve performance.
• The connection exchanges information in "Binary" mode (see MC Reference Manual for more
information).
• When configuring the PLC, make sure it is SLMP enabled:

Make sure the SLMP is correctly defined:

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Process Simulate - Connect Directly to Rockwell Hardware and Software PLC

Process Simulate - Connect Directly to Rockwell Hardware and Software PLC

Sending signals to Rockwell ControlLogix PLCs

This document describes how to install and use the Process Simulate External Connection for Hardware-in-
the-Loop (HiL) and Software-in-the-Loop (SiL) Rockwell PLCs.

The application enables direct communication between Process Simulate and the Rockwell ControlLogix,
CompactLogix, and GuardLogix PLC, or FactoryTalk Logix Echo virtual PLC without the need for any
3rd-party software (as is the case for OPC-based communication).

The following figures describe typical Process Simulate work environments when connecting to Rockwell
Automation using a direct connection:

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 Setting up connections to Rockwell PLCs

Setting up connections to Rockwell PLCs

The Rockwell Direct connection application can be downloaded from the Tecnomatix Downloads section of
the Siemens Support Center. Install it on a PC or machine already running Process Simulate. The following
table provides details of compatibility with Process Simulate versions

Rockwell
Connection
Process Simulate version Comments
16.1.2 V1.0 Requires installing all latest hotfixes for this version
17.0 V1.0 Requires installing all latest hotfixes for this version
2203 and higher V1.0

Capabilities

The Tecnomatix Rockwell PLC connection can exchange IO tags directly between Process Simulate and a
Rockwell ControlLogix, CompactLogix, and GuardLogix PLC, or the FactoryTalk Logix Echo virtual PLC.

Create an external connection to a Rockwell PLC

Once installed, the application enables you to create an external connection like any other external
connection in Process Simulate.

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 Procedure

1. Create a new external connection from the Options → PLC → Connection Settings dialog box.

2. Define the settings of the target PLC.

Use the Path in Studio 5000 to find the IP Address, rack and slot number of the PLC.

3. Click Validate to test the connection.

4. Assign signals to the new connection, using the Process Simulate Signal Viewer. Do this the same
way you assign signals in other OPC connections.This exchange is name-based. Signals in Process

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 Tag access

Simulate must be named to match the tags in the Studio5000 project. See below for details about Tag
Access.
5. Run the simulation.

Tag access

External Access

For communication between Process Simulate and the Rockwell controller, tags require the appropriate
External Access setting.

• Tags mapped to Resource Input Signal signals (or Key Signals) must be set to Read/Write.
• Tags mapped to Resource Output Signal signals (or Display Signals) must be set to Read/Write or
Read Only.
• Tags set to None cannot be accessed by Process Simulate.

Note: If a signal in Process Simulate is configured for exchange with a tag lacking the appropriate external
access permission, the Simulation Monitor displays an error during simulation.

Tag scope

The names of Process Simulate signals mapped to tags in the controller scope (also known as global tags)
must match the tag name exactly. The following example shows controller tags and their corresponding
signals in Process Simulate.

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 Signals mapped to tags in the program scope (also known as local tags) must have the following name
structure: Program:<Program name>.<Tag name>. The following example shows a program tag defined
in the controller and its corresponding signal in Process Simulate.

Array naming convention

• Boolean arrays are stored in the controller as sequential words (32 bits). Use the following naming
convention: ArrayName[word number].bit number. For example:

Array element number Controller tag name Process Simulate signal name
1 ArrayName[0] ArrayName[0].0
32 ArrayName[31] ArrayName[0].31
33 ArrayName[32] ArrayName[1].0
64 ArrayName[63] ArrayName[1].31
65 ArrayName[64] ArrayName[2].0

Note: for arrays smaller than one word, the word number can be omitted.

For example: ArrayName.0, ArrayName.1, ArrayName.2, and so on.

• For non-Boolean arrays of numeric types INT, DINT, or REAL, use the controller tag name as the Process
Simulate signal name.

Known limitations

• With large data sets it is possible to experience performance issues. Siemens recommends only
exchanging essential tags when possible, to minimize communication and improve performance.
• Rockwell PLCs do not allow writing to safety tags. Siemens recommends the following procedure for
safety testing during virtual commissioning (for a safety bridge):
1. Add a new routine and tags in your PLC project.
2. In this routine, wire the new regular tags to the safety tags to which you wish to write.

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 Simulation tab

3. Map Process Simulate IO signals to these regular tags.

Simulation tab

The Simulation tab includes parameters for configuring simulations and presentation mode settings.

The following parameters are included in the Simulation tab:

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Simulation tab

Parameter Description
Stop on Events/Locations When selected, stops the currently running simulation on locations and
during simulation events in its path according to the simulation time interval entered.
Deactivate large kinematic When selected, this option deactivates the calculation of kinematic
devices during simulation cables attached to robots (a third-party component, not these Cables)
when all of the following conditions are met:

• You are running in Line Simulation mode (time-based and event-based

(line simulation) as explained in Event Based Simulation Module).
• The Line Operation (the highest node in the Object Viewer hierarchy)
is being simulated (as opposed to a node of the line operation).
• You are playing a simulation, as opposed to moving the robot in any
other way, such as JointJ og.

When this option is selected, the kinematic cables do not move during
simulation of the robot. This saves system resources and enables the
simulation to run smoothly. When simulation is paused or ends, Process
Simulate calculates the new position of the cable and updates the
display accordingly.
Simulation time Interval Note
This parameter is also available in the Sequence Editor.

Specifies the sampling interval used in simulation calculations. Shorter

time intervals provide greater accuracy, while longer time intervals save
computing resources and improve performance. The possible range is
0.01 - 1 seconds.
Deactivate Status Bar When selected, no messages display on the status bar as the simulation
messages during simulation plays.
Deactivate Dynamic Reach When selected, the Dynamic Reach Advisor does not open when a
Advisor during simulation robot is unable to reach a location during simulation.
Activate Assigned signals When this option is selected, signals are only activated if they participate
only in the simulation (IO/LB signals). By default the option is not checked,
and all signals are activated during the simulation (including signals
connected to SCL blocks, sensors, and so on). When the option is off
performance may be affected.

When the option is ON, signals are active, under the following
conditions:

CEE Simulation

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 Simulation tab

Parameter Description
• When signals are used in logic such as LBs, Modules, Transitions, but
are not considered for SCL connected signals, or for signals used in
Conveyor Control Point expressions
• Robot signals
• Signals used in OLP commands
• Kinematic related signals (joint distance sensor signals, joint value
sensor signals)
• Light sensor signals if sensor is activated, but not relevant for other
resource sensor types: Proximity, Property and LiDAR sensor

PLC Simulation

• When signals have an active PLC Connection on the eMServer platform

(or have an assigned PLC Resource on the Teamcenter platform)
• When signals are used in LB logic, but not considered for Modules,
Transitions or other logic
• Light sensor signals, if sensor is activated, but not relevant for the
other resource sensor types - Proximity, Property and LiDAR sensor
Robot Signals Enables you to specify signals to ignore during simulation:

• All: All WaitSignal and SendSignal OLP commands are ignored.

• All but #: All controller-specific WaitSignal and SendSignal OLP
commands are ignored. Default controller commands such as
#SetSignal #WaitSignal are still executed.
• Only #: Only default controller OLP commands such as #WaitSignal
and #SendSignal are disregarded during simulation.
• Only missing/ignored: All WaitSignal OLP commands that refer to
missing signals (signals that do not exist in the loaded scope) or
ignored signals (signals marked to be ignored in Robot Signals) are
ignored.
• Only #: Ignore default signal commands (those starting with #) during
simulation.
Robot Logic When set, the system skips the following logic OLP commands: IF, ELSIF,
ELSE, ENDIF, SWITCH, CASE, DEFAULT, ENDSWITCH, WHILE, ENDWHILE,
FOR, ENDFOR, GOTO, JUMP, CALL, Variable assignments. However the
system runs other commands, such as those nested under a loop.

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Managing presentation mode templates

Parameter Description
Time step Measure of time elapse between intervals of the simulation for
calculations by the physics engine. Refer to Objects' physical
properties.
Presentation Mode Enables you to create and edit Presentation mode templates.

Managing presentation mode templates

Presentation Mode Templates for Simulations

You can create presentation mode templates to use when running simulations. This is useful to add clarity
to simulations and to emphasize relevant issues to viewers. For example, you can create a template for the
simulation of how to disassemble a subassembly of an engine, as follows:

• Display the whole engine.

• Highlight each part in red while disassembling it.
• Blank the parts when their disassembly is complete.

When you have created a number of presentation mode templates, you can select which template to use
for a given simulation. Refer to Sequence Editor.

Create a presentation mode template

Procedure

1. In the Simulation tab, click Add.

The Presentation Mode Actions dialog box appears.

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 Create a presentation mode template

2. In the Template name field, type a name for your new presentation mode template.
3. In the Action timing dropdown list, select one of the following points in time for which to apply
actions:
• Simulation Start—The actions displayed affect all the objects in the current cell at the start of the
simulation. For example, you can define actions to display the entire assembly and emphasize it in
a bright color when the simulation begins.
• Simulation End—The actions displayed affect all the objects in the current cell at the end of the
simulation. For example, you can define an action to de-emphasize the entire assembly and display
it in its original color when the simulation ends.
• Operation Start—The actions displayed affect objects at the start of their operations. For example,
you can define an action to emphasize moving parts.
• Operation End —The actions displayed affect objects when their operations are complete. For
example, you can define an action to blank parts when they are no longer in motion (and
consequently not of interest).
The Presentation Mode Actions dialog box displays the current presentation mode actions for the
selected Action Timing.
4. Click Add.
The Add Presentation Mode Action dialog box appears.

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Create a presentation mode template

When you select Simulation Start or End in step 3, the dialog box description is Action for Non-
Simulated Objects and when you select Operation Start or End, it is Action for Simulated Objects.
5. Check one of the available visibility or color presentation actions.
6. Selecting Emphasize in step enables the Emphasize Properties area. Select an Emphasize color and
set the Transparency.
7. Check Part Instance and Assembly Unit Only if you wish the action to apply only to part instances
and assembly units (not to compound assemblies).
8. Click OK. The new action is displayed in the Presentation Mode Actions dialog box.
9. Repeat steps 4 to 8 to add the actions you require for the selected Action Timing.
10. In the Presentation Mode Actions dialog box, do the following, if required:
• Select an action and click Remove to remove it from your template.
• With a single or compound operation selected in the Sequence Editor, select an Emphasize action
and click Edit to change its Emphasize Color or Transparency settings.
11. Return to step 3 as many times as required to add actions at different Action Timing time-slots in the
simulation.
12. In the Presentation Mode Actions dialog box, click OK.
Your new presentation mode template is displayed in the Simulation tab.

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 Note
• If a user event configures the display of an object during simulation, this overrides the presentation
mode setting. For example, if the presentation mode template configures an object as blue and a
display event blanks the object (refer to Adding Events), the object is blanked during the simulation.
• By default, Process Simulate creates the Assembly and Disassembly templates. These cannot be edited
or deleted.

Edit presentation mode templates

Procedure

1. Select the presentation mode template you wish to edit in the Presentation mode area of the
Simulation tab and click Edit. The Presentation Mode Actions dialog box appears and displays the
presentation mode actions of the selected template.
2. Edit the presentation mode template as required and click OK.

Delete presentation mode templates

• Select the presentation mode template you wish to delete in the Presentation mode area of the
Simulation tab and click Remove. The presentation mode template is removed from the Simulation
tab.

Teamcenter options

The Teamcenter tab, allows you to enter details and parameters for Process Simulate operations with
Teamcenter. They include the Teamcenter Web server details and the locations of files and directories used
by Process Simulate on Teamcenter.

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Teamcenter options

Note
When working in disconnected mode, only the Application Data Path and Model Mapping File options
are available. For more information, refer to Using Process Simulate Disconnected to Work Locally.

The following parameters are included in the Teamcenter tab:

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 Units tab

Parameter Description
Application Data Directory containing the public layouts configured for Process Simulate.
Path
Model Mapping File Configuration file containing specifications for mapping object models between
Teamcenter and Process Simulate.
Icons Path The <installation folder>\eMPower\TeamcenterIntegration\dat\icons folder
contains the icons to use for displaying Teamcenter objects in Process Simulate.
If you wish to use custom icons in Process Simulate, you can overwrite or add
to these icons. Alternatively, you can replace the folder with your own icon
collection.

Note
Process Simulate displays an icon for an object if the filename of the icon
matches the object's revision type in Teamcenter. The format for icon files is
16x16 pixels, 16-color bitmap.

Web Server Access Length of time that Process Simulate waits while attempting to connect to the
Timeout Teamcenter Web server before considering it a failed attempt. Selecting the
ideal timeout value is dependent on network performance.

Note
After five consecutive failed attempts, Process Simulate displays a message
indicating that the connection has failed.

Address The address of the Teamcenter Web server.

Line Simulation Allows you to store line simulation data even when not running in Line
Simulation mode.
Check in When activated, pops a message allowing you to choose whether to check in
a study with its contents that had been closed, when reloading it, or when
loading a different one.

Units tab

The Units tab, shown below, includes parameters for specifying the current linear, angular, mass, and time
units of measurements.

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Units tab

The following parameters are included in the Units tab:

Parameter Description
Linear Enables you to select the linear measurement unit for the engineering data from the
dropdown list.
Angular Enables you to select the angular measurement unit for the engineering data from the
dropdown list.

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 Weld tab

Parameter Description
Mass Enables you to select the physical volume measurement unit for the engineering data from
the dropdown list.
Time Enables you to select the time measurement unit for the engineering data from the
dropdown list.

Use the spin box next to each unit type to specify the number of decimal places for that measurement.

Weld tab

The Weld tab includes parameters for specifying both the orientation and angle deviation limits of weld
locations.

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Weld tab

The following parameters are included in the Weld tab:

Parameter Description
Approach Vector Enables you to select which axis is the Approach axis for weld locations.
Perpendicular Enables you to select which axis is the Perpendicular axis for weld locations.
Permitted gap Enables you to specify the minimal distance between parts included in the same
between parts group. Weld points cannot be projected or flipped on to a part located beyond
the permitted gap. The default value is 0.2 mm.

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 Exit

Parameter Description
Consider weld point If set, the system applies gun orientation to new weld point projections,
orientation including translation and rotation.
Projection Direction Enables you to determine the direction in which the weld locations are
projected: Away from the part projects the weld points away from the part (this
is the default setting and is used for alignment) and Toward the part projects
the weld points toward the inside of the part.
Perpendicular angle Enables you to specify the spot weld angle deviation limit from the
perpendicular.
Limit distance Enables you to define a value for the distance permitted when moving weld
locations. Sets the distance limit between the projected weld location and its
current position for calculating whether a weld location can be moved using
Single/Multiple Locations Manipulator.
Welding Enables you to specify the standard welding time required for welding
operations.
Motion Enables you to specify the standard motion time required for welding
operations.
Holding Enables you to specify the standard holding time required for welding
operations.

Exit

• Choose File tab → Exit .

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 Welcome page

5. Home
Welcome page
After launching , the Welcome page is displayed.

The Welcome page contains the following elements:

1. The Recent Files list retains up to the last 15 files you accessed. Clicking the star of a file causes that
file to remain at the top of the list, thus implementing a Favorites list.

Note
You can right-click to remove a file from the Recent list.

2. Tabs
• Welcome – Main window.
• What’s New – Notes the new features of the current release.
Click any item to enlarge it and read more details and then click Back to New Capabilities to return
to the What’s New page. Click Open Release Notes in the top right corner to read information on
all the new features of the current release.
• Useful Links – Links you to a variety of online Siemens Digital Industries Software resources..

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Working with viewers

You can design an HTML page with information customized for your organization and make it
accessible via a new tab, as follows:
a. Name the HTML page, for example, MyCompanyInfol and store it at
<installation_folder>eMPower\LandingPage\CustomerPages\Page1\.

b. Restart . The Welcome page now includes your new tab with a default icon .
c. You can store custom icons in PNG format at
<installation_folder>eMPower\LandingPage\CustomerPages\Page1\icon and up to five
additional pages at <installation_folder>eMPower\LandingPage\CustomerPages\Page<n>. An
example page is provided with your installation which may be used as a template. To display the
example page in the Welcome dialog box, access the Page1 folder and rename Example.html_ to
Example.html by removing the underscore.
3. This area plays a slide show presenting the new features in the current release. Click the arrow on the
bottom right to display more information about the selected feature. Click Back to New Capabilities
to jump to the What’s New page.
4. Enables you to access the Options dialog box.
5. Enables you to Standard/LineSimulationMode:
6. Link to the Tecnomatix pages in various social networks.

Working with viewers

.NetScriptViewer

.NET Script Viewer

Using the .NET Script viewer, you can compose, edit, and run programs in the C# and Python
programming languages. The viewer enables you to compose your own code without using an integrated
development environment and to run it without restarting the application.

Run the .NET Script Viewer

• Choose Home tab → Viewers group → Viewers and select .NET Script.

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 .NET Script Viewer

Note
By default, when the .NET Script viewer opens, it loads a short sample program.

The top pane is for writing and editing program code and the bottom pane is for displaying execution
results.

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Program in C#

Compose a program in the .NET Script Viewer

• Click the arrow beside the New C# Script File icon and select the C# (refer to C#) or Python (refer to
Python) programming language, to begin writing a new program.

Load a program in the .NET Script Viewer

• Click Open Script File to load an existing program and continue editing it.

Save a program in the .NET Script Viewer

• Click Save Script File to save your changes, or Save As Script File to save the program in a
new file.

Program in C#

• The code must contain at least one Public class statement.

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 Program in C#

The Public Class must contain at least one Public Static method for execution. The Public Static method
should either have no argument at all (for example, public static void Main()) or it should have a
ref StringWriter argument (for example, public static void MainWithoutOutput (ref StringWriter
output)). Use the ref StringWriter method if you need to access the output window.

Note
By way of illustration, the above example includes Public Statics both with and without arguments.

• Click to manage the list of referenced DLL program extensions connected to your program.

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Program in C#

To add a reference, click Add and navigate to the new item. To delete a reference, select the reference
and click Remove.

Note
◦ To reference a system DLL (for example, System.DLL), reference it from the .NET directory (for
example, C:\Windows\Microsoft.NET\Framework64\v4.0.30319).
◦ The References window is persisted for each user.

• Click Compile Code to compile the C# program code. When compilation is complete, the system
displays a success message or indicates the line numbers where errors have occurred.

• Click Execute to execute a C# program. The system compiles the program code and executes it.
◦ If the code contains only a single method, it is immediately executed.
◦ If the code contains more than one method, the system prompts you to select a method and click
Execute.

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 Dot Net Script Python

Dot Net Script Python

• To use the Tecnomatix API, the script must include the following lines:

• To execute a Python program, click Execute. The system runs the program code and displays the output.

Collision detection

Collision Viewer

The Collision Viewer is an essential tool for planning and optimizing the assembly process. You can use the
Collision Viewer to check the feasibility of the operations planned in the assembly process and to ensure
that the process is collision-free. For example, when assembling an automobile body, you can use the
Collision Viewer to answer questions such as the following:

• When is the optimal point in the assembly process to mount the seats?
• Will there be enough space to gain access for the seats at the proposed point of the assembly process?

You can use the Collision Viewer to display planned collision sets that are of particular interest and to hide
others. For example, for mounting a power supply in the enclosure of a PC, you can specify to check for
collisions between the power supply and the PC enclosure, while ignoring collisions between the hard disk
and the PC enclosure.

When running a simulation of your proposed process, the Collision Viewer can indicate the collision curve
of colliding objects. You can view the collision as a report or graphically in the Graphic Viewer. This
enables you to make interactive corrections and to refine your process for optimal results.

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Collision Viewer

Note
When working in Line Simulation mode, the Collision Viewer relates to part appearances exactly as it
relates to parts in Standard mode. For example:

• Part appearances persist in collision sets.

• When a specific appearance is included in a collision set, it appears as the part it represents. The
system detects collisions with any other appearances of the same part.

When switching back to Standard mode, the collision list shows the part name in place of the part
appearance. In Standard mode the system detects collisions with the part itself.

Collision Viewer Layout

To access the Collision Viewer, choose Home tab → Viewers group → Viewers and select the Collision
Viewer.

The Collision Viewer enables you to define, detect, and view collisions in the data currently displayed in the
Object Viewer, as well as view collision reports.

The Collision Viewer is composed of three panes:

• The left pane contains an editor for creating and managing collision sets.
• The middle pane displays collision results and includes viewing options. The primary object node is
colored red and the colliding object is colored blue.
• The right pane displays a list of the collision curves for the selected collisions. Each curve is named after
its colliding object.

The left pane of the Collision Viewer includes the following options:

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 Collision Viewer

Button Tool Description

New Collision Set Defines a new collision set. Refer
to New Collision Set.
Remove Collision Set Deletes a previously created
collision set.
Edit Collision Set Changes the definition of a
previously created collision set.
Fast Collision Creates a collision set quickly
from the selected objects.
This collision set is displayed
in the left pane of the
Collision Viewer under the name
fast_collision_set. The collision
set created with this option is
a self set, which means that all
of the objects within the set
are checked for collision against
each other. Only one fast collision
set may exist in a scene. If you
create another one, it replaces
the previous fast collision set.

If selected objects consist of

point clouds/point cloud layers
only, Fast Collision is disabled.
If selected objects include both
point clouds/point cloud layers
and other objects, all point
clouds/point cloud layers are
listed in the left pane of the Fast
Collision window.
Emphasize Collision Set Emphasizes the selected collision
set in yellow, blue and orange
in the Graphic Viewer. Objects
in the left hand (Check:) column
of the Collision Set Editor are
colored yellow. Objects in the
right hand (With:) column are
colored blue. Objects that are
listed in both columns are colored
orange. Non-colliding entities
(see Tool Definition) listed in
the left, right or both columns
of the Collision Set Editor are
emphasized with different colors

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Collision Viewer

Button Tool Description

— turquoise for Check: column,
carmine for With: column and
dark green for both columns.

Click the icon again to resume

normal viewing.
All Displayed Objects When activated, checks for
collisions among all objects
shown in the Graphic Viewer.
This option ignores defined
collision sets. Enabling this
option can have a significant
impact on system performance.

Note
This option does not check for
point clouds and point cloud
layers.

When Emphasize Collision Set is activated, the Graphic Viewer displays objects in the selected collision
set in yellow and blue (and if there is a collision, the colliding objects are highlighted in red - whether or
not Emphasize Collision Set is activated):

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 Collision Viewer

The middle pane of the Collision Viewer includes the following options:

Button Tools Description

Show/Hide Collision Sets Shows/hides the collision set
editing pane of the Collision
Viewer.
Collision Mode On/Off Activates/deactivates Collision
mode.
Freeze Viewer Freezes the Collision Viewer to
prevent dynamic updating of the
collision report as objects are
moved in the Graphic Viewer.
Collision Options Enables you to set default
collision options. Refer to the
Collision tab of the Options
dialog.
Show Colliding Curve Toggles the collision curve of
colliding objects in the graphic
display. The curve is displayed in
yellow. When selected, the curve
is displayed in green. You can

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Collision Viewer

Button Tools Description

also right-click the curve in the
Collision Curves pane and choose
Zoom to selection to zoom the
display of the collision curve.

The collision curve is not

necessarily a continuous line. It
consists of a number of segments
when the colliding objects touch
each other in some places but do
not touch in others.

If your colliding set contains

multiple colliding objects, more
than one collision contour is
generated. Collision contours are
not generated for point clouds
and point cloud layers.
Show Colliding Pair Defines how the collision status
of a pair of colliding objects are
displayed. When the button is not
selected, the dropdown selection
is ignored. Otherwise, one of the
following options is applied:

Color Selected Pair: The selected

pair is colored in the Graphic
Viewer. The primary object node
is colored red and the colliding
object is transparent blue. All
other objects are white.

Show Selected Pair Only: The

selected pair is displayed in the
Graphic Viewer. All other items
are not displayed.
Export to Excel Saves the information in the
Collision Viewer as a .CSV file.
Show/Hide Collision Curves Shows/hides the Collision Curves
pane of the Collision Viewer.
Collision Depth Calculates the depth of
penetration of colliding objects.
Refer to Calculate Collision
Penetration.

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 Collision Viewer

Button Tools Description

Color Colliding Objects Toggles the color highlighting of
colliding objects to facilitate clear
viewing of colliding objects.

If Show Colliding Pair is

active, this function toggles
the highlighting between red/
transparent blue and the original
colors of the objects.
Collision Results Filter Filters the collision results.
Choose one of the following
options:

List Colliding Pairs Only

(highlighted in red)

List All Pairs (displays the

distance between all the visible
objects in the cell)

The Collision Viewer displays all parts currently involved in a collision in the Parts column and the parts
with which these collide in the With Parts column. Click + next to a part to view a list of all the parts with
which it is colliding; these parts are shown as children of the part you are viewing. When selecting a parent
part, all the collisions with children parts are highlighted.

The Collision Curves pane (on the right) enables you to select curves which are highlighted in the Graphic

Viewer. You can also select a curve and click to zoom to it in the Graphic Viewer. Clicking a curve in
the Graphic Viewer automatically selects it in the Collision Curves panel.

The following figure shows a collision in the Graphic Viewer.

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Collision Viewer

The following figure shows a collision curve between colliding objects.

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 Create Collision Set

Note
While running a simulation, the collision curve is not displayed and the Show Colliding Curve icon
becomes inactive. However, when the simulation is complete (or paused), the collision curve is displayed
again.

The Collision Viewer can display collision details at the link and entity level, when you use the Lowest
available level option in the Collision tab of the Options dialog. Click the Show\Hide Collision Details
icon on the Collision Viewer toolbar to open the Collision Details pane.

Create Collision Set

The New Collision Set command enables you to select objects in the Object Viewer or the Graphic
Viewer and save these pairs to check for collisions or near misses. Two types of collision sets can be
created:

• A collision list enables one list of selected objects to be checked for collision against another set of
selected objects.
• A self set checks every object in the set for collision against every other object in the set.

1. Click to open the Collision Set Editor window.

2. Select objects in the Object Viewer or Graphic Viewer. The names of these objects appear in the
Check pane.
3. Do one of the following:

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Remove Collision Set

• When creating a self set, where each object is checked for collision against every other object,
leave all objects in the Check pane.
• When creating a collision list, where one list of selected objects is checked for collision against
another list of objects, click and to move one or more objects between the Check and With
panes for setting the objects for collision checking. Next, select one object in the Check pane and
one object in the With pane, and click OK. The pair is added to the Collision Viewer as a collision
set.

4. Click to activate collision mode and check for collisions with the selected pair of objects.
When you have created multiple collision sets, they appear in the Editing pane of the Collision
Viewer, as shown below:

Note
Near Miss and Contact - Allowed Penetration derive their values from the default settings in
the Collision tab of the Options dialog. Click either of these fields and edit them, if you wish.
The values you enter override the default values. It is recommended to set only one of these
parameters.

5. Select the checkbox next to the collision sets for which you want to check collisions.

For information on how to automatically activate collision sets during simulation, refer to Adding Activate
Collision Set Events.

Remove Collision Set

The Remove Collision Set command enables you to delete a previously created collision set.

1. Select a collision set in the Editing pane of the Collision Viewer.

2. Click to remove the selected collision set.

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 Calculating Collision Penetration

Calculating Collision Penetration

The Collision Viewer can calculate the depth of penetration of colliding objects. It uses this information to
display a vector along which to withdraw one of the colliding objects to resolve the colliding status.

Note
The system cannot calculate the depth of penetration for objects whose collision status is near miss or
contact.

1. In the Part list of the Collision Viewer, select a colliding part and click .
The Collision Depth dialog box appears.

In the Collision pair area, Object displays the name of the part you selected and With objects lists all
the parts with which the selected part is in collision.

Note
You can select a part from the With Parts list in the Collision Viewer before launching Collision
Depth. In this case, there is only a single entry in With objects.

In the Penetration vector area, Vector displays the x, y, and z-direction components of the
penetration vector and Penetration depth displays the depth of penetration of the colliding objects.
When the Collision Depth dialog box is active, the Graphic Viewer displays the colliding objects
in red and the collision penetration vector in yellow. The vector is shown as an arrow pointing in

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Calculating Collision Penetration

the direction to move the selected colliding part and the distance to move it to resolve the state of
collision.

Note
You can configure the color of the penetration vector. Refer to the Appearance tab of the Options
dialog.

Collision Depth does not check point clouds and point cloud layers.
2. By default, Distance to jump displays the penetration depth of the colliding objects.
This is the distance required to move the selected colliding part to resolve the state of collision. When
removing the state of collision, change this distance if you wish to create extra clearance between the
colliding objects.

Note
• If there are multiple solutions to resolve the state of collision, the system selects the shortest
vector.
• If the colliding part collides with more than one other object, the system calculates the shortest
vector that resolves the state of collision between the colliding part and all the objects with
which it collides.

3. Click Jump.
The system moves the selected colliding part by the distance in Distance to jump and in the direction
of the penetration vector.

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 Disassembly Viewer

The state of collision is resolved and both the Graphic Viewer and Collision Viewer display the new
state - without collision.

4. If you are not satisfied with the solution, click Reset to revert to the colliding state.
5. If you have made changes to the state of collision, click Refresh to repeat the calculation of the
penetration vector.

Note
If the changes you made have caused the state of collision to be resolved, the system displays the
following message: The penetration is no longer active.

6. Click Close to exit the Collision Depth dialog box.

Disassembly Viewer

The Disassembly Viewer displays the following disassembly information for a selected subassembly/
occurrence group:

• Explosion directions for individual parts in the subassembly/occurrence group.

• Part dependencies.
• Assembly units configuration.

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Disassembly Viewer

1. Select a part in the Graphic Viewer or Object Viewer.

2. Choose View tab → Screen Layout group → Disassembly Viewer.
The Disassembly Viewer appears.

The Disassembly Viewer includes the following fields, providing information on the selected part:

Field Description
Allowed Directions Indicates the enabled explode directions.
Dependencies Indicates the parts that must be removed before the selected part can be
removed.
Assembly Unit Indicates that the Smart Disassembly feature removes the selected part with
all of its descendents as a complete unit. The disassembly sequence does
not include operations that disassemble the descendents.

3. Activate or deactivate explode directions for a specific part by one of the following methods:

• Select or clear checkboxes in the Allowed Directions area. You can click to select all directions

or to clear all directions.

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 Disassembly Viewer

Note
Only explode directions enabled for the root assembly are available. Refer to Define Explode
Directions for further information.

• Click the required axis in the Graphic Viewer.

Note

You can click to display or hide the selected part's explode directions in the Graphic Viewer.

4. You can click to highlight the selected part's dependencies in the Graphic Viewer. The selected
part appears in blue and its dependencies appear in red.
5. You can configure the part dependencies for the selected part in the Dependencies area as follows:
• To add a part dependency, do the following:

a. Click .
The Add Dependency dialog box opens, displaying the parts in the dependency list.

b. In the Object Tree or Graphic Viewer, select a part to add to the Dependency objects list in
the Add Dependency dialog box.
c. Click Add. The new part appears in the Dependency objects list in the Add Dependency
dialog box and in the Dependencies area of the Disassembly Viewer.
d. Click Close to close the Add Dependency dialog box.
• To remove a part dependency, do the following:
a. Select a part in the Dependencies area.

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Graphic Viewer

b. Click to remove the part from the list.

6. You can select Working Assembly Root to configure the selected part as a working assembly root.

Note
Working Assembly Root is enabled only for compound parts that are not descendents of a
working assembly.

Graphic Viewer

The Direct Model Graphic Viewer, using the Vis graphics engine, is an image window that displays the
contents of the current 3D engineering data. The Graphic Viewer is always available.

The Direct Model viewer provides the following benefits:

• Advanced visualization capabilities – the Vis graphics engine provides realistic graphics control and
various features such as Feature Lines, Transparency of parts during selection, Component Textures
viewing, advanced rotation around all axes, and more.
• Optimizable hardware resources utilization – For example, gradual loading, enabling users to start
working in parallel. Also, users can pre-define the application's allocated memory, to prevent problems
when loading large scene. You can also set the refresh rate of the graphics to better control rotation
behavior with big data sets. In addition, Direct Model is designed to utilize the new dual-core CPU
technology to optimize performance.

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 Multiple Graphic Viewers

• Graphics card support – Direct Model supports both NVIDIA and ATI high-end graphics cards.
• State-of-the-art graphics technology – JT is the Siemens Digital Industries Software standard and is
well accepted by the 3D application community as a stable and reliable format.
• 4K Monitor support

Note
• If Limit joint motion in the Motion tab is set, joint motion is limited by the joint's physical limits.
• If Highlight joint limits in the Motion tab is set, the Graphic Viewer displays joints that have
exceeded their working or physical limits in color. If cleared, there are no color indications about
physical limits. For information on configuring these colors, refer to the Appearance tab.
• In some situations it is theoretically necessary to display an object in multiple colors. For example, if a
joint has exceeded its working limits and is also in a state of collision. However, since only one color
can be displayed, the system uses the following order of priorities to determine the actual display
color:
◦ Selection color
◦ Collision color
◦ Emphasize color (for example, emphasize simulation event)
◦ Exceeded physical limits color
◦ Exceeded working limits color
◦ Instance color
◦ Prototype color

Multiple Graphic Viewers

You can open multiple instances of the Graphic Viewer. This is useful if you wish to observe the graphic
data or a simulation from several different view points. For example, you can see a top view and a side
view of the graphics when analyzing the data or two isometric views, one zoomed to a specific area and
one displaying the entire work station.

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Multiple Graphic Viewers

Note
• The Graphic Viewers are numbered and show the same data. Only one viewer is active at any given
time - its title bar is emphasized in color.
• When closing open Graphic Viewers, the last one remains open - it cannot be closed.
• Object-related actions, for example, selecting or deleting objects, affect all the Graphic Viewers,
whereas window-related actions, for example, zooming or rotating the display, affect only the active
Graphic Viewer.
• When running commands that require multiple selections, for example Continuous Process
Generator, you can make your selections in any Graphic Viewer.
• Information concerning the number of Graphic Viewers is not stored in the Layout Manager.
Therefore, after reloading data, only a single instance of the Graphic Viewer appears.

To display additional graphic viewers:

• Choose View tab → Screen Layout group → New Window .

An additional Graphic Viewer is displayed. It is maximized and becomes the active Graphic Viewer.

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 Load on Demand

To arrange graphic viewers:

• Choose View tab → Screen Layout group → Arrange Windows and select one of the
following:Vertical, Horizontal, Tiled, Cascade, Tabbed.
The Graphic Viewers are arranged according to your selection.

To activate a graphic viewer

Do either of the following:

• Choose View tab → Screen Layout group → Switch Windows and select the desired window
from the list.
• Click anywhere in the desired window.

Note
Closing the active window causes another window to become active.

Load on Demand

Better loading time and performance are provided by Load on Demand technology, which loads 3D data
into the Graphic Viewer according to user demand the first time 3D data is loaded. When objects are
loaded, by default the 3D data is not displayed until the user toggles the icons next to the objects in the
relevant tree. Refer to Blanking/Displaying Objects in the Viewer. If a study is saved with the 3D data
displayed in the Graphic Viewer, the next time that study is opened, all 3D data will be automatically
displayed. If a study is saved with no 3D data displayed, the next time that study is opened, the 3D data
will be displayed on demand only.

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Blanking/Displaying Objects in the Viewer

Blanking/Displaying Objects in the Viewer

Elements or nodes are displayed in the trees regardless of whether they are blanked or displayed in the
Graphic Viewer. You can blank and display objects in the Graphic Viewer by using the toggle icons next
to the node names in all trees except the Navigation Tree. When you click the toggle icon, it switches
between the following icons:

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 Manipulating the View in the Graphic Viewer

Icon Description
A Solid Blue icon indicates an object that is
currently displayed in the Graphic Viewer.
An Empty Blue icon indicates an object that is not
currently displayed in the Graphic Viewer.
A Half Blue icon indicates a compound that has
some children displayed in the Graphic Viewer.
A Blue X icon indicates that an object does
not have any 3D representation and cannot be
displayed in the Graphic Viewer.

Manipulating the View in the Graphic Viewer

You can use the mouse buttons to manipulate the view and control how objects are displayed in the
Graphic Viewer, as follows:

• Center and Right Buttons: Use these buttons together to rotate the object’s view point in the Graphic
Viewer. Moving the mouse in any direction changes the view point. The distance that you move the
mouse across the screen affects the amount of rotation.
• Center Button: Use the center button for zooming in or out of the Graphic Viewer. Moving the mouse
left or right affects the direction of the zoom. To zoom out, move the mouse left; to zoom in, move
the mouse right. The distance that you move the mouse across the screen affects the magnitude of the
zoom.
• Right Button: Use the right button for panning in the Graphic Viewer. Moving the mouse in any
direction affects the panning direction.

Note
To zoom an area: Start with the mouse in a free area. Hold down the Alt key while dragging a selection
box to zoom the contents of the selection box.

Alternately, you can select one of the view modes (Rotate, Pan or Zoom) from the popup window that is
displayed when you select the Graphic Viewer:

The currently selected mode remains active until you choose the Select option.

Transparency

The Direct Model graphics engine enables users to select a complicated assembly and view its inner
components in a transparent manner.

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Component textures

Component textures

The display engine can show JT files with textures (defined in a CAD/Render system). This can be useful to
provide more realistic views of the model.

Manipulating images in the Graphic Viewer

You can use the mouse buttons to manipulate the image and control how objects are displayed in the
Graphic Viewer, as follows:

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 Using 3D navigation devices

• Middle Button—Use the middle button for zooming in or out of the Graphic Viewer. Moving the mouse
left or right affects the direction of the zoom. To zoom out, move the mouse left; to zoom in, move the
mouse right. The distance the mouse moves across the screen affects the magnitude of the zoom.
• Right Button—Use the right button for panning in the Graphic Viewer. Moving the mouse in any
direction affects the direction panned.
• Middle and Right Buttons –Use these buttons together to rotate the object's view point in the
Graphic Viewer. Moving the mouse in any direction changes the view point. The distance the mouse
moves across the screen affects the amount of rotation.

Note
You can use the arrow keys on your keyboard to rotate the view in the Graphic Viewer 30 degrees in any
direction.

Alternatively, you can select one of the following view modes: Rotate, Pan or Zoom.

The selected view mode remains until you select the Select option.

Process Simulate provides the following two mouse movement modes:

• Direct viewing—Objects only move when you move your mouse.

• Continuous viewing—Objects continue to move at the initial speed of mouse movement.

You can set the mouse movement mode in the Graphic Viewer tab.

Using 3D navigation devices

Process Simulate supports 3D navigation devices to facilitate manipulation of objects in the 3D

environment and increased productivity. The 3D device is installed in addition to the standard mouse.

3D navigation devices enable you to manipulate objects in the 3D environment by maneuvering a mouse-
like device. You can perform the following actions without having to click and drag in the user interface:

• Pan
• Zoom
• Tilt
• Spin
• Roll
Each device also provides configurable buttons for additional control.
Siemens has checked and approved the following devices manufactured by 3DConnexion®.

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Selecting objects in the Graphic Viewer

◦ SpacePilot
◦ SpaceExplorer
◦ SpaceNavigator
For installation instructions and full details about these devices, refer to http://
www.3Dconnexion.com.

Note
◦ Process Simulate supports 3DConnexion device driver version 6.6.4 or higher and 3DConnexion
software version 3.6.11 or higher.
◦ If you installed Process Simulate before installing the 3D navigation device, you must use the
SpaceBallMouse.msi Add on located in the DVD Add-ons folder.
◦ If you installed the 3D navigation device when Process Simulate was running, you must restart
Process Simulate before the device is recognized.

Selecting objects in the Graphic Viewer

Individual objects are selected by clicking on them. Multiple objects can be selected by holding down
<Ctrl> on your keyboard and clicking the required objects or by dragging a selection box around the
required objects.

When selecting objects in the Graphic Viewer, the point you select is indicated by a symbol.

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 Selecting objects in the Graphic Viewer

1. Click a Pick Intent icon to determine the precise point on an object when you click it. Refer to Pick
Intent.

2. Select the Pick Level (Component or Entity), as follows. Refer to Pick Level.

3. You can select Component Frames (i.e., frames within a component) independently.

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Material Flow Viewer

Material Flow Viewer

The Material Flow Viewer displays operations that consume parts and material flow links between the
operations. The link from Operation1 to Operation2, for example, indicates that the parts used by
Operation1 are available for Operation2. Even if a part used by Operation1 is passed via a link to
Operation2 but is not consumed by Operation2, it is still passed by the next link to Operation3 and
becomes available for it. This enables you to view and control the way parts are passed between the
operations in Event-Based Simulation mode (also known as Line Simulation mode or Cyclic Event
Evaluator (CEE)).

• The Material Flow Viewer displays the material flow structure of the entire study – it does not have a
specific scope. It always displays all the operations in the study that have incoming/outgoing Material
Flow links.
• Useful information can be derived from operations that consume parts. This may be either those with
parts assigned to them, or as in the case of weld operations, those with parts that are used by them
(selecting such operations and using Generate Appearances generates part appearances). However,
even operations that do not consume parts can also participate in the structure.
• The Material Flow Viewer displays only leaf operations - simulative operations such as non-sim, object-
flow, device, gripper, weld, pick&place operations, etc., but not compound operations. Leaf operations
are those operations that actually run, i.e., operations that actually use the parts and pass them on.
Therefore, the Material Flow Viewer displays operations in a non-hierarchical way. All operations of all
compounds are shown next to each other, without their parent compound operations.
• Operations in the viewer that lack any incoming/outgoing links are removed upon the next load. These
operations are highlighted in pink.

Initially, the system evaluates the operations' start conditions. When the operations run, it uses the parts
available from preceding operations (according to material flow links) even if some required parts are still
lacking and the operation begins. At the following critical points in the operation, the system checks if the
remaining required parts have been supplied by the preceding operations (the operation continues even if
the parts are still lacking):

• The start of operation execution.

• When starting the approach any location in the operation (even if not attached to the part or a taught
location).

Note
No additional check is performed before processing location OLP commands.

• The start of simulation event execution (only relevant for events that refer to parts).
• The end of operation execution.

Running of operations is controlled by the Sequence Editor but the flow of parts is independent of the
order of operations.

The following figure shows the Material Flow Viewer.

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 Material Flow Viewer

The Material Flow Viewer contains the following elements:

Icon Name Description

Operation Consists of operation name and icon and possibly the parts
element assigned (depending on user selected mode).

Selected Selection is synchronized with the other viewers.

operation

Operation Operation that has no incoming and outgoing links. Next time
element without the viewer is loaded, this operation is not loaded.
links
Operation Operation that does not consume any parts.
element that
does not consume
parts
Link Material Viewer link.

Branching links

• Dotted line represents alternative branching

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Material Flow Viewer

Icon Name Description

• Solid line represents simultaneous branching
Alternative group The parts are passed either to all the operations in this group,
but alternatively to all other alternative links from the same
source.

In this example, parts are passed either to the group on the right or the left – but not to both.

The Material Flow Viewer toolbar contains the following tools:

Icon Name Description

Add Operation Adds the operation you selected in the Sequence Editor or Object
Viewer to the Material Flow Viewer. You can also drag operations and
drop them into the Material Flow Viewer. While the operation does
not have a material flow link attached to it, it is displayed in red.
This operation (if it remains unattached) is not considered part of the
material flow structure and will not be shown next time you load the
Material Flow Viewer.
New Material Toggles the link mode. When on, the system creates material flow links
Flow Link between the operations you click. Deactivate Link Mode when you have
finished creating material flow links.
Generate Material Opens the Generate Material Flow Links dialog, enabling you to create
Flow Links multiple material flow links.

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 Material Flow Viewer

Icon Name Description

Pick operations from the Material Flow Viewer or Object Viewer to list
them in the Generate Material Flow Links dialog, use the arrow buttons
on the right to set the desired order, and click OK. The system creates a
chain of material flow links between the selected operations.

Note
If you have created a loop, the system omits one link to prevent
forming the loop and issues a warning.

Link Operations Creates a material flow link between two selected operations.

Unlink Operations Breaks the selected material flow link.

Delete Deletes the selected link or removes the selected operation from the
Material Flow Viewer.
Create Default Creates a material flow structure of operations and material flow links
Material Flow from the operations and links in the Sequence Editor.
Structure
This is useful when opening data created in previous releases for the
first time in event-based simulation mode. In this case, there are no
operations or material flow links in the Material Flow Viewer. When
running simulations, the system will move parts in an unexpected
fashion.

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Material Flow Viewer

Icon Name Description

The Create Default Material Flow Structure command adds all part-
consuming operations from the Sequence Editor and creates material
flow links between them in the same way they were linked in the
Sequence Editor. The system also adds operations with more than a
single outgoing link.

Note
• If any material flow links already exist, the system warns you that
these will be deleted.
• If you wish, you can use the results of this command as a basis for
your own restructuring.

Set As Configures the selected links to be simultaneous (parallel) links.

Simultaneous Link
Set As Alternative Configures the selected links to be alternative links. The operation
Link proceeds via a single link (determined by the operations' start
conditions). The user is responsible for synchronizing the behavior of
the Material Flow Viewer and the Sequence Editor.

Note
Alternative links are shown in the Material Flow Viewer as dashed
lines.

Create Alternative Enables you to group the selected links into a single alternative group.
Group

If the source operation passes its consumed parts via the Alt1 link, the
parts flow via a single link. If, however, the source operation passes its
consumed parts via the Alt2 link, the system considers both the links in

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 Material Flow Viewer

Icon Name Description

the Alt2 group as simultaneous links and the parts flow via both the links
in the Alt2 group.

Note
You cannot add or remove links to or from alternative link groups. If
necessary, delete a group and create another one.

Select Enables you to select elements in the Material Flow Viewer.

Pan Enables you to move the selected operation(s) in the Material Flow
Viewer.
Zoom In Zoom in.

Zoom Out Zoom out.

Zoom to Fit Zoom to fit.

Zoom to Selection Zoom to selection.

Show/Hide Enables you to show and hide elements in the Material Flow Viewer. The
following options are available:

• Hide Operations - Hides the selected operations in the Material Flow

Viewer.
• Show Operations - Reveals the operations selected in the Object
Viewer in the Material Flow Viewer.
• Show All Operations - Reveals all the operations in the Material Flow
Viewer.
• Show Only - Displays the selected operations in the Material Flow
Viewer and hides all others.
Highlight Part Highlights all the operations that consume the part selected in the
Consuming Graphic Viewer or Object Viewer. This command is always available.
Operations

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Material Flow Viewer

Icon Name Description

Display Parts Toggles the display of the parts consumed by the operations.

Material Flow Enables you to view the Material Flow Validity Report window.
Validity Report

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 Material Flow Viewer

Icon Name Description

The Material Flow Validity Report facilitates checking the integrity of

the structure you have built. It displays problematic operations in the
following tabs:

• Not in Viewer - Operations to which parts are assigned but which

have been omitted from the viewer structure. Click Add All to add all
the operations in the tab to the Material Flow or select the operations
you wish to add and click Add Selected.
• Not connected - Operations in the viewer structure but which have
no material flow links. These operations are disconnected from the
structure (and are not loaded in the next viewer session).
• No parts - Operations in the viewer structure to which no parts are
assigned.

Use the information in the Material Flow Validity Report to fix your
structure.
Export to Image Exports the contents of the Materials Flow Viewer to an image file.
File

Layout Display Enables you to select the layout direction for the Material Flow View.
Select Horizontal or Vertical.
Toggle Grid Toggles the grid display in the Material Flow Viewer.

Settings Opens the Material Flow Viewer Settings dialog box.

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Mfg Viewer

Icon Name Description

This enables you to set the following options (which are also accessible
on the PLC tab of the Options dialog):

• Enable automatic Material Flow - By default, the system generates

part appearances on all parts/stations. When this option is set, part
appearances are only generated on parts/stations (assigned to the
operation) that are inside the material flow.
• Keep Part Appearances on Play - By default, existing part
appearances in the material flow are deleted at the start of operation
simulations. When the simulation is complete, all the appearances in
the flow are those that have been created by the simulation.
When this option is set, the part appearances currently existing in the
scope of the flow are not deleted before the simulation runs.
• If you have set Keep Part Appearances on Play, you can also set
Restore Part Appearances on Reset. In this case, the properties
(assignments, visibility, color) of all the part appearances are restored
to their state prior to simulating the operation when you reset the
operation.

This video demonstrates creating material flow.

Note
Videos are not included in PDF. To access videos, use HTML.

Mfg Viewer

Viewing Mfgs

The Mfg Viewer displays all of the Mfgs in a scene.

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 Viewing Mfgs

The Mfg Viewer enables you to:

• View the Mfgs in a scene.

• Toggle the view state of each Mfg.
• View the projection status of each Mfg.
• View Mfg attributes.

The default Mfg Viewer display includes the following information:

Column Description
Indicates the display state of the Mfg. You can click
the display state icon for an MFG to change its
display state.

The Mfg is displayed in the Graphic Viewer.

The Mfg is not displayed in the Graphic Viewer.

Mfg Feature Caption of the Mfg.
Location The coordinates of the Mfg location.
The Access State column displays the lock status
of the Mfgs in Teamcenter and appears by default.
You can close it if you want.

The following list describes which Mfgs are locked

and which unlocked:

• Mfgs Created in Teamcenter - are always locked

as they derive from the Teamcenter structure
context (just like the parts).

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Viewing Mfgs

Column Description
• Mfgs created and exposed in Process Simulate
- these Mfgs can be seen in Teamcenter and are
not necessarily locked. If, however, they are in
use by another Teamcenter user, they appear
locked in the Mfg Viewer.
• Private Mfgs in Process Simulate - these Mfgs
cannot be seen or locked in Teamcenter so they
always appear unlocked in the Mfg Viewer. They
are saved in ProcessSimulateSimDetails.xml in a
dataset of the relevant operation.
Indicates the projection state of the Mfg.

indicates that the Mfg is a projected location.

A blank field indicates that the MFG is not a

location or is an unprojected location.
Indicates the assignment state of the Mfg.

indicates that the Mfg is assigned to an

operation.

A blank field indicates that the Mfg is not assigned

to an operation.

The Mfg Viewer includes buttons for the following operations:

Icon Name Description

Find by Caption Enables you to search the Mfgs
in the Mfg Viewer by caption.
Opens a Find dialog in which you
specify the Mfg caption.
Fields Customization Enables you to select the Mfg
attributes that are displayed in
the Mfg Viewer.
Filter by Type Filters the display of Mfgs by

type. Click to display a

dropdown menu enabling you to
select the Mfg types to display in
the Viewer.

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 Customize the Mfg Viewer with additional columns

Icon Name Description

The Mfg Viewer displays only Mfg

types indicated by .

Note
See Configuring weld point display names.

Customize the Mfg Viewer with additional columns

Procedure

1. In the Mfg Viewer, click .

The Fields Selection dialog box opens.

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 The Available properties list contains a tree view with attributes that can be displayed as additional
columns in the Mfg Viewer. The Show properties in following order list contains the attributes
displayed as columns in the Mfg Viewer.
2. Add an attribute from the Available properties list to the Mfg Viewer display as follows:

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 a. In the Available properties list, select the desired attribute.

b. Click to copy the selected attribute to the Show properties in following order list.
c. You can add the Variant Conditions column to display variant condition data retrieved from
Teamcenter.

Note

You can click to copy all of the attributes in the Available properties list to the Show
properties in following order list.

3. You can remove an attribute from the Show properties in following order list as follows:
a. In the Show properties in following order list, select the attribute to remove.

b. Click to remove the selected attribute from the Show properties in following order list.

Note

You can click to remove all of the attributes from the Show properties in following order
list.

4. If required, change the order in which attributes are displayed in the Mfg Viewer as follows:
a. In the Show properties in following order list, select an attribute.
b. Click Move up or Move down to change the position of the attribute in the Show properties in
following order list.

Note
Attributes that are higher in the Show properties in following order list are displayed farther to
the left in the Mfg Viewer.

5. Click OK.
The Fields Selection dialog box closes and the Mfg Viewer now displays additional columns for the
customized attributes that you added.

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Configure variant formulas

6. You can click a column header to order the display of Mfgs in the Mfg Viewer. Arrows ( and ) in
the column header indicate that the Mfgs are displayed in ascending or descending order according
to the values for the column.

Configure variant formulas

To display the Variant Formula property for Mfgs in the Mfgs Viewer, add the Variant Condition column
to the Mfg Viewer as described in Add Columns to Mfg Viewer.

Connected:

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 Configure variant formulas

Standalone:

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Configure variant formulas

The Mfg Viewer now displays the value for the Variant Formula and the Variant Formula in separate
columns, and the Properties Viewer shows an additional row with the Variant Formula property.

Connected:

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 Assign an Mfg to an operation

Standalone:

Assign an Mfg to an operation

Procedure

1. In the Mfg Viewer, select the Mfg to assign to an operation.

2. Drag the selected Mfg from the Mfg Viewer onto an operation in another viewer. The Mfg is assigned
to the operation.

Modules Viewer

The Modules Viewer command enables you to create and view the hierarchy of modules in the study.
It acts as an internal PLC (programmable logic controller) and enables you to edit and evaluate signal
expressions - only in CEE mode.

The Modules Viewer also enables you to define a signal resulting from a logical expression comprising a
number of other signals and operators. The expressions are evaluated on each simulation cycle. You can

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Modules Viewer

edit the signals assigned to a selected module by defining new expressions for signals, or by modifying the
expressions defined for a selected signal.

It is also possible to export or import modules to or from the modules viewer in order to re-use logic
statements that have already been created.

When you select Modules Viewer, the Modules Viewer is displayed, as shown below:

The Modules Viewer comprises the following toolbar and areas:

• The Modules Viewer Toolbar enables you to manage the contents of the Modules Viewer.
• The Modules Viewer Inventory area displays all the modules that are stored in the study. From this
area, modules can be dragged and dropped into the Modules Viewer Hierarchy area, as required.
• The Modules Viewer Hierarchy area displays the configurable hierarchy of modules for the study. The
order of modules in the hierarchy determines the behavior of the study.

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 Workflows

Workflows

Procedure

1. Create and Define a Custom Suite of Modules.

Modules control the simulated behavior of the operations and resources with which they are
associated in the scene.
• Create new modules and assign them to resources using the New Module command.
• Configure the modules, as described in Configure Module, and by using the Edit Module
command.
• Delete modules if required using the Delete Module command.
2. Create and Define the Program Hierarchy.
The order in which modules are placed in the Modules Hierarchy determines the way their associated
operations and resources behave in the simulation.
• Edit the call list for a module by dragging and dropping objects from the Modules Viewer Inventory
area to the Modules Viewer Hierarchy area.
• Remove a module from the hierarchy using the Disconnect Call or Disconnect Call Tree options.
• Change the position of a module in the hierarchy by dragging it to the required position or using
the Move Call Up or Move Call Down options.
3. Run the Simulation.Run the simulation, as described in the Sequence Editor.

Modules Viewer toolbar

The Modules Viewer toolbar enables you to manage the Modules Viewer. The following options are
available:

Option Name Description

New Module Enables you to add a new module
to the scene. Refer to New
Module.
Delete Module Enables you to delete a module
from the scene. Refer to Delete
Modules.
Edit Module Enables you to configure
modules. Refer to Edit Module.
Disconnect Call Enables you to disconnect a
module from the Modules

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New Module

Option Name Description

Viewer Hierarchy area. Refer to
Disconnect Call.
Disconnect Call Tree Enables you to disconnect a
hierarchy of modules from the
Modules Viewer Hierarchy area.
Refer to Disconnect Call Tree.
Move Call Up Enables you to raise the position
of a module in the Modules
Viewer Hierarchy area. Refer to
Move Call Up.
Move Call Down Enables you to lower the position
of a module in the Control
Hierarchy area. Refer to Move
Call Down.
Create If Statement Enables you to make a
conditional call to a module.
Refer to Create If Statement.
Edit If Statement Enables you to define the
conditions for calling a module.
Refer to Edit If Statement.
Export Modules Enables you to export the
contents of the selected
module(s) to an XML file. See
Import/Export Modules.
Import Modules Enables you to import the
contents of an XML file into
the selected module. See Import/
Export Modules.
Send to Signal Monitoring Enables you to send the
selected module(s) to the Signal
Monitoring window. See Signal
Monitoring.

New Module

The New Module command enables you to add a new module to the scene. This module is displayed in
the Modules Viewer Inventory area of the Modules Viewer.

To create a new module, click New Module on the Modules Viewer toolbar.

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 Configure Modules

A new module is added to the scene and is displayed in the Modules Viewer Inventory area of the
Modules Viewer, under a default name.

You can rename and add comments for modules, as described in Configure Modules.

You can edit the signals assigned to the selected module, as described in Edit Module.

Configure Modules

New modules are given a default name when added to the database. You can rename them later.

1. Select the module in the Modules Viewer Inventory area.

2. Press F2 and type a new name for the module.
3. Press Enter.

Delete Module

The Delete Module command enables you to delete a module from the scene.

1. In the Modules Viewer Inventory area of the Modules Viewer, select the module that you want to
delete from the database.
2. Click Delete Module on the Modules Viewer toolbar.
The selected module is deleted from the program database.

Edit Module

Click Edit Module to evaluate and edit the signals assigned to a selected function caller. In the Edit Entry
dialog box, you can define a signal as a logical expression comprising a number of other signals and
operators. The expressions are evaluated each time a scan is performed. You can edit the signals assigned
to a selected function caller by defining new expressions for signals, or by modifying the expressions
defined for a selected signal.

1. Select an element in the Modules Viewer and click Edit Module on the Module Viewer toolbar.
The Module Editor dialog box is displayed.

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Edit Module

2. Click New Entry to create a new signal expression.

The Module Editor signal editor is displayed.

3. Click the Result Signal field and select a signal from the Signal Viewer or type the signal name.
The selected signal is displayed in the Result Signal field, enabling you to edit an expression that
defines its value.
4. Compose an expression using entries, constants, parameters, logical operators, and functions of
entries and parameters. Use any of the following methods to compose the expression:
• Type a freehand expression.

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 Edit Module

• As soon as you type a character, Process Simulate opens a list box with suggestions to complete
the character into a legal word. The list contains all operators, signals, constants, etc. that are in
context. Select the appropriate item.

• Press <ctrl> + <space> to open the complete list without typing anything.

• Copy/paste text from other sources.

• Double-click signals in the Signal Viewer or drag-and-drop them into the Edit If Statement
Condition dialog box.

Note
• The expression editor also supports Undo and Redo.
• The OK button is only enabled when the expression you are editing is valid.
• It is not possible to accept the expression until you have resolved all the syntax problems.

5. Repeat steps 3 and 4 for additional signals and operators.

Note
You can include a maximum of 20 signals and operators, combined, in the expression.

6. When the signal expression has been completed to your satisfaction, click OK to move the signal
expression to the Module Editor dialog box.
7. Create further signal expressions in the Module Editor.

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Edit Module

8. In the Module Editor, you can select one or more entries and do any of the following:

• Click to edit an entry.

• Click to delete an entry.

• Click or to reorder entries.

You cannot edit child block calls but you can adjust their order or delete them.
You can construct a hierarchy of many levels but the Modules Editor shows child block calls of the
next level down only.

• Click to copy entries and to paste entries.

Note
If you nest an element in the Modules Viewer Hierarchy and edit its parent element in the
Modules Viewer Inventory, you can view the signals and the elements that parent calls. In the
example shown in the figure below, the element call is highlighted in gray:

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 Export and import modules

9. You can also select one or more module entries and click to send the selected items to the Signal
Monitoring window. See Signal Monitoring.
10. Click OK to close the Modules Editor dialog box.

Export and import modules

If you have duplicated part of a scene in a new scene and wish to implement the same module logic, this
may be laborious to do manually. To save this effort, you can export all the content of selected modules
to an XML file, edit the signal and resource names to match those of the target scene, and import the
content.

Procedure

1. Select one or more modules in the Modules Viewer and click Export Modules.
2. When prompted, select a path and file name in which to store the XML file and click Save.
The following example shows a module in the Module Editor and its exported XML file.

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 The <ExpressionsSignals> node lists all the signals and the <PlcModule Name="Main">
node lists all the signal logic.
3. Edit the resource and signal names in the XML file to match the resource and signal names in the
target scene. If you omit this step, the system is unable to connect the imported signals to the
resources in the target scene, requiring you to do this manually.

4. Open the target scene, select the target module, and click Import Modules. When the import is
complete, the system displays a success message.

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 Disconnect Call

Disconnect Call

The Disconnect Call command enables you to remove a call to a module in the Modules Viewer
Hierarchy area in the Modules Viewer without removing it from the scene. All the modules found below
the selected control in the hierarchy are moved up a level.

1. In the Modules Viewer Hierarchy area of the Modules Viewer, select the module that you want to
remove.
2. Click Disconnect Call on the Modules Viewer toolbar.
A confirmation message is displayed.
3. Click OK.
The selected module is removed from the hierarchy and all the modules below the selected control
are moved up one level.

Disconnect Call Tree

The Disconnect Call Treevcommand enables you to remove a call from the Modules Viewer Hierarchy
area of the Modules Viewer without removing the modules from the program database. The selected
control and all the calls in its subtree are removed.

1. In the Modules Viewer Hierarchy area of the Modules Viewer, select the module that is at the top
of the branch that you want to remove from the hierarchy.
2. Click Disconnect Call Tree on the Modules Viewer toolbar.
A confirmation message is displayed.
3. Click OK.
The selected module and all the modules in its tree are removed from the hierarchy tree.

Move Call Up

The Move Call Up command enables you to raise the position of a call to a module in the Modules Viewer
Hierarchy area of the Modules Viewer.

1. In the Modules Viewer Hierarchy area of the Modules Viewer, select the module that you want to
raise.
2. Click Move Call Up on the Modules Viewer toolbar.
The selected module is raised one level in the hierarchy.
3. Click Move Call Up again to raise the module additional levels, as required.

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Move Call Down

Move Call Down

The Move Call Down command enables you to lower the position of a call to a module in the Modules
Viewer Hierarchy area of the Modules Viewer.

1. In the Modules Viewer Hierarchy area of the Modules Viewer, select the module that you want to
lower.
2. Click Move Call Down on the Modules Viewer toolbar.
The selected module is lowered one level in the hierarchy.
3. Click Move Call Down again to lower the module additional levels, as required.

Creating IF Statements

The Create If Statement command enables you to create a conditional call to a module.

Else statements can optionally be used to define what should occur when the conditions defined in IF
statements are not fulfilled.

1. Open the Modules Viewer.

2. In the Modules Viewer Hierarchy area, select the module for which you want to add an IF statement

and click Create If Statement on the Modules Viewer toolbar. An IF/ELSE statement is added at
the bottom of the hierarchy for the selected control.
3. From the Modules Viewer Inventory area, drag and drop the relevant module to the appropriate If
statement in the Modules Viewer Hierarchy area, as displayed below. You can add multiple controls,
as required.

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 Editing IF Statements

Note
To define conditions for an ELSE statement, repeat step 3, dragging the selected resource to the
appropriate ELSE statement.

After creating an IF statement, you can define the conditions for it, as described in the next section, Edit If
Statement.

Editing IF Statements

The Edit IF Statement command enables you to define the conditions for calling a module.

1. Open the Modules Viewer, as described in the Modules Viewer.

2. In the Modules Viewer Hierarchy area, select the module for which you want to define conditions
and click Edit IF Statement on the Modules Viewer toolbar.
The Edit If Statement Condition dialog box is displayed.

3. Compose an expression using entries, constants, parameters, logical operators, and functions of
entries and parameters. Use any of the following methods to compose the expression:
• Type a freehand expression.

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Editing IF Statements

• As soon as you type a character, Process Simulate opens a list box with suggestions to complete the
character into a legal word.
The list contains all operators, signals, constants, etc. that are in context.

• Select the appropriate item.

• Press <CTRL> + <space> to open the complete list without typing anything.
• Copy/paste text from other sources.
• Double-click signals in the Signal Vewer or drag-and-drop them into the Edit If Statement
Condition dialog box.

Note
• The expression editor also supports Undo and Redo.
• If, during the current editing session, the expression is not valid, the system underlines invalid
words in red, and encloses the expander in a red box.

• It is not possible to accept the expression until you have resolved all the syntax problems.

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 Sequence Editor

4. Click OK to accept the expression.

The Edit If Statement Condition dialog box closes.

Note
To edit ELSE statements, follow the steps described in the above procedure, selecting the module
of the relevant ELSE statement.

Sequence Editor

The Sequence Editor displays details of the current operation, which is displayed in bold in the Object
Viewer. To set an operation as the current operation, select it and choose Home tab → Operation group
→ Set Current Operation. You can run the currently selected operation and add events to the selected
operation.

The Sequence Editor includes two resizable areas, a tree area on the left and a Gantt Chart area on the
right, as shown below:

The Tree area displays a hierarchical tree of the current operation. At the root of the tree is the name of the
current operation, and if the operation is a compound operation, the suboperations are displayed below.
For example, in an object flow operation, the path locations are displayed in the tree below the name of
the operation. When you export Sequence Editor to Excel the following columns are exported:

Column Name Description

Type Displays the type of the operation. It will always be exported at first position.
Start Time Displays the start time of the operation relative to the compound operation of which it
is a part. It will be exported after all columns.
Duration Displays the actual time needed to perform the operation. It will be exported after all
columns.

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Sequence Editor

The Gantt Chart area displays the operations and suboperations as a Gantt chart, which illustrates their
relationships and the time required to run them.

When you simulate an operation, you can see the operation running in the Graphic Viewer, and a vertical
red bar moves along the operation in the Gantt chart.

You can drag the vertical red bar to any point in the operation and the display in the Graphic Viewer
adjusts accordingly to show the same point in the operation.

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 Sequence Editor

During simulation a light blue slider is displayed in the active Graphic Viewer. This shows the name of the
operation simulated and how much time has elapsed If you are running in Line Simulation mode, the
slider is not displayed, and LineOperation is displayed instead of the operation name.

Clicking the time changes the time format to hrs:mins:secs:ms, and clicking it again changes back to the
default time format. The slider enables you to move the operation backwards or forwards by dragging its
button. Hovering over the slider causes the button to display as a ball. The elapsed time displays at the
hover point, and if that point is ahead of the button, the simulation pauses when reaching it. Clicking the
slider causes the simulation to jump to the point you specified. The slider is also displayed in the Path
Editor.

If you are Running Multiple Path Editors and/or the Sequence Editor with a different operation in
each one, when you change the focus from one editor to another, the slider's operation name changes
accordingly in the Graphic Viewer. Alternatively, you can click the arrow beside the slider's operation name
to open the slider operation menu.

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Sequence Editor

This menu displays the operations loaded in the open Path Editor windows and the Sequence Editor (in
Line Simulation mode, only LineOperation is displayed). Hovering over an operation (only those loaded
in one of the Path Editor windows) highlights it in the Graphic Viewer providing a visual indication before
confirming your selection. Clicking any of the operations changes the focus to the relevant Path Editor or
Sequence Editor instance. You can click the Play/Pause button to run or pause the simulation, or the Reset
button to reset the simulation.

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 Sequence Editor

In the Sequence Editor, you can link and unlink suboperations and attach events to operations. Refer to
Adding Events for more details. You can also modify the colors of events and operations displayed in the
Gantt Chart. Refer to Appearance tab for more details.

Note
If you pause a simulation and make changes to the operation, the simulation resets and runs at a fast
speed in the background until when you paused it. When you resume the simulation it starts from
that point in time. You can resume the simulation with any of the play forward controls in the toolbar.
Resuming a simulation with a play backward control, starts it from the beginning of the operation.

The Sequence Editor toolbar appears as follows:

The following table describes the options available in the Sequence Editor toolbar:

Button Command Description

Link Links one suboperation to
another operation within
compound operations. You can
sort the objects in the Sequence
Editor area according to their
link sequence, as described in
Linking Operations.
Unlink Unlinks a selected linked
operation. Refer to Unlinking
Operations.
Zoom In Adjusts the image in the Gantt
chart to display a shorter time
period, enabling to view a
portion of the operation in closer
detail.
Zoom Out Adjusts the image in the Gantt
chart to display a longer time
period, enabling you to view the
operation as a whole.
Zoom to Fit Adjusts the image in the Gantt
chart to display all operations in
the same view.
Zoom to Selected Operations Adjusts the image in the Gantt
chart to display the operation
selected in the Tree area.

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Sequence Editor

Button Command Description

Configure Columns Enables you to control the
visibility of the columns in the
tree area of the Sequence Viewer.
Jump to Start Jumps the simulation of the
current operation in the Graphic
Viewer from its current viewing
point back to the beginning of
the operation.
Jump Simulation to Time Jumps the simulation of the
current operation in the Graphic
Viewer from its current position
to a specified point in time
on the simulation time line.
For more information, see Jump
Simulation to Time.
Play Backward to Operation Runs the simulation of the
Start current operation in the Graphic
Viewer backwards to the
beginning of the operation.

Note
If the Stop on events and
locations during simulation
checkbox is selected in the
Motion tab, the simulation will
stop at events and location
points as it runs backwards to
the beginning of the operation.

Note
When running in Line
Simulation mode, this button
is disabled.

Step Backward Steps the simulation of the

current operation in the Graphic
Viewer backwards in intervals.
The intervals are specified in the
Simulation Time Interval field in
the Motion tab of the Options
dialog.

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 Sequence Editor

Button Command Description

Note
If the Stop on events and
locations during simulation
checkbox is selected in the
Motion tab, the simulation will
stop at events and location
points as it steps backwards.

Note
When running in Line
Simulation mode, this button
is disabled.

Play Backward Runs the simulation of the

current operation in the Graphic
Viewer backwards.

Note
When playing simulations
backwards, the physics engine
does not perform its
calculations. For example, if
an object has fallen on the
floor during simulation, it
remains there when playing
the simulation backwards.
Reset the simulation to return
to the original state.

When running in Line

Simulation mode, this button
is disabled.

Pause Stops the simulation of the

current operation in the Graphic
Viewer.
Play Forward Runs the simulation of the
current operation in the Graphic
Viewer forwards.

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Sequence Editor

Button Command Description

Note
If your simulation includes any
robots that have not yet been
initialized, the system initializes
them before commencing
simulation. During this time,
the Status Bar displays an
initialization message for each
robot undergoing initialization.

Step Forward Steps the simulation of the

current operation in the Graphic
Viewer forwards in intervals. The
intervals are specified in the
Simulation Time Interval field in
the Motion tab.

Note
If the Stop on events and
locations during simulation
checkbox is selected in the
Motion tab, the simulation will
stop at events and location
points as it steps forwards.

Note
When running in Line
Simulation mode, this button
is disabled.

Play Forward to Operation End Runs the simulation of the

current operation in the Graphic
Viewer forwards to the end of the
operation.

Note
If the Stop on events and
locations during simulation
checkbox is selected in the
Motion tab, the simulation will
stop at events and location
points as it runs forwards to
the end of the operation.

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 Sequence Editor

Button Command Description

Note
When running in Line
Simulation mode, this button
is disabled.

Jump to End Jumps the simulation of the

current operation in the Graphic
Viewer from its current viewing
point forwards to the end of the
operation.
Simulation Time Displays the elapsing time of the
running simulation.
Simulation Speed Enables you to modify the
simulation speed (even during
simulation). By default, the slider
is set in the middle of the
scale, meaning one second of
simulation lasts for one second
of the operating system time.
Drag the slider to the left to
slow simulation or to the right to
speed it up.

The Simulation Speed does not

affect the calculations made (they
are affected by Simulation Time
Interval). You can set various
values for these parameters to
control the simulation exactly as
you want.
Simulation Time Interval Note
This parameter is also available
in the Simulation tab.

Specifies the sampling interval

used in simulation calculations.
Shorter time intervals provide
greater accuracy, while longer
time intervals save computing
resources and improve
performance. The possible range
is 0.01 - 1 seconds.

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Sequence Editor

Button Command Description

Presentation Mode Template Enables you to use presentation
mode templates to present your
simulations with added clarity.

The arrow opens a dropdown

list and enables you to select
a presentation mode template.
Click the button to toggle the
presentation mode On or Off.
Refer to Create Presentation
Mode Templates for more
information.
Auto Teach When a part moves during
simulation, the locations on the
part also move and their absolute
coordinates change. As a result,
robots may not be able to find
these locations.

When activated, the Auto Teach

function sets the following for
each location in the simulated
operation (the results are only
visible in the Path Editor):

• The optimal robot

configuration from the Robot
Solutions listed in the Robot
Configuration dialog. To
enable this function, click
to open the Set Robots for
Auto Teach dialog and add the
desired robots.

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 Sequence Editor

Button Command Description

Note
This step is not required when
running Auto Teach from the
Path Editor.

After running the simulation in

Auto Teach mode to determine
the optimal robot configuration,
the robot uses this configuration
when not in Auto Teach mode.

• The absolute position (during

simulation) of robotic locations
attached to parts.
It is necessary to run the
simulation in Auto Teach mode
to determine the coordinates.
After doing this, the robot is
able to use the coordinates
when not in Auto Teach mode
to find locations that move
during simulation.
• It is possible to clear
taught locations for selected
operations and compound
operations.

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Filtering the Sequence Editor Tree

Button Command Description

The Clear Teach Location option

clears turns and solutions,
causing simulations as well as
downloads to use the initial, pre-
taught values of locations.
Dynamic Collision Report Opens the Dynamic Collision
Report. For more information,
refer to Dynamic Collision
Report.
Minimal Distance Report Opens the Minimal Distance
Report. For more information,
refer to the Minimal Distance
Report.

You can perform Download to Robot to robots from the Sequence Editor.

This video demonstrates the use of basic simulation.

Note
Videos are not included in PDF. To access videos, use HTML.

Filtering the Sequence Editor Tree

You can use filters to select the operation types that are displayed in the Tree area. This enables you to
filter large volumes of data easily and view selected types of operations only. Filtering also improves the
system's performance by enabling you to filter out data that may degrade performance. You can filter the
tree by selecting which levels and nodes to display or hide by selecting predefined filters.

1. Right-click an empty area in the Sequence Editor tree area and choose Tree Filters Editor to display
the Sequence Editor Filters dialog box.

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 Filtering the Sequence Editor Tree

2. In the By Type tab, select the operation types and level of details that you want to display in the
tree and deselect the operation types and detail levels that you do not want to display. This prevents
loading unnecessary entities in the Sequence Editor tree that can degrade system performance.

Note
Selecting or deselecting a parent node in the Sequence Editor Filters dialog automatically selects
or deselects all of that node's children. However, you can change the selection of child nodes
independently of parent nodes, by selecting or deselecting them individually.

3. To apply a second level of filtering to the operation types selected in the By Type tab, you can select
only those operations that are associated with particular resources, as follows:
• Select the required objects in the Graphic Viewer or the Object Viewer.
• Select the By Resource tab.
The selected resources are displayed.

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Jump Simulation to Time

• Select the operations to be displayed from the By Type tab.

Operations that are selected in the By Type tab, but do not use the objects selected in the
By Resource tab, are not displayed in the tree.
4. Click OK.
The tree hierarchy is displayed according to the operations and resources selected, and saved for
future Process Simulate sessions.

Jump Simulation to Time

You can jump to a selected point in a simulation by specifying a particular time on the Gantt chart. The
simulation quickly advances to the specified point on the time line.

To jump simulation to time (in Line Simulation Mode only):

1. Click Jump Simulation to Time on the toolbar.

The Jump Simulation to Time dialog box is displayed.

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 Cutting, copying or pasting events

2. Enter the time on the Gantt chart to which to jump.

3. Click Jump to perform the operation, or Cancel to exit without performing the operation.

Cutting, copying or pasting events

You can cut, copy, or paste all types of events from one operation to another, using either the keyboard
commands (Ctrl X, Ctrl C, Ctrl V), or from the Home tab → Edit group. The events can be pasted on
operations selected in the Sequence Editor.

If you paste an event on an operation selected in the Sequence Editor Tree, the system pastes the event
at the beginning of the operation. If you paste an event in the Gantt section of the Sequence Editor, the
system pastes the event at the mouse pick location.

You can select multiple locations in the Graphic Viewer, and drag and drop to insert them anywhere in an
operation in the Sequence Editor Tree.

Linking operations

You can create a link between two operations within a compound operation, or between two top-level
operations (i.e., not suboperations of any compound operations), so that when one operation finishes the
next begins. The operations are linked according to the order of their selection. To link operations within a
compound operation, the required compound operation must first be set as the current operation. Refer to
Set Current Operation for more details.

1. If linking between two suboperations of a compound operation, select the compound operation in
the Object Viewer and set it as the current operation. The selected compound operation and its
suboperations are displayed in both the Tree area and the Gantt Chart area of the Sequence Editor.
2. Hold down the <Ctrl> key and select the first operation, either in the Tree area or the Gantt Chart
area, and select the second operation. The selected operations are displayed in bold in the Tree
area and are highlighted in blue in the Gantt Chart area. (The cursor changes to when selecting
operations in the Gantt Chart area.)
3. Select Link with Offset or click in the Tree area. In the Gantt Chart area the selected operations are
linked by an arrow that indicates the point in time at which the two operations are linked.

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Reordering operations in the Sequence Editor

Note
You can also link operations by dragging the operation bar in the Gantt Chart area of the first
operation to the operation bar of the second operation.

Reordering operations in the Sequence Editor

You can change the order of operations in the Sequence Editor by dragging them and dropping them to
the desired position. Both the Gantt chart on the right and the Object Viewer are refreshed to reflect the
change (which is not just a change in the view of the data).

Reordering by Links

You can choose to view the operations according to the link sequence, which makes it easier to see how
the sequence flows: Right-click the operation in the Sequence Editor and select Reorder by Links.

Also, when you add links between operations, you cause the operations to occur in a specific sequence.
This does not automatically change the display order of the operations in the Object Viewer or in the
Sequence Editor. You can use the Reorder by Links to update the display according to the link sequence.

Note
When the data is updated to Teamcenter the order is reflected by the Teamcenter Find No. property by
an increment of 10. The order below a process or operation saved to Teamcenter is grouped by type:
Parts, Resources, Operations and MFGs.

If you wish to avoid modifying the Teamcenter Find No. property while using Process Simulate, you
can edit the UpdateObjectOrder node using the Teamcenter Configuration Mapping Tool in the
Tecnomatix Doctor (this node can be found under the Misc section).

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 Unlinking operations

If the Teamcenter Find No. attribute of any of the items sent from Teamcenter to Process Simulate
is textual (as opposed to numeric), Process Simulate deactivates operation reordering and issues the
following warning when loading the data.

Unlinking operations

Break the link between two linked operations by selecting either one of the linked operations, and clicking

in the Tree area. Alternatively, right-click the arrow that links the operations together and choose
Delete. (The arrow representing the selected link is colored blue and the cursor changes to when
selecting links to delete in the Gantt chart.)

Warning
Ensure that only the required link in the operation is selected before selecting Delete, otherwise the
entire operation will be deleted.

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Dynamic Collision Report

Dynamic Collision Report

The Dynamic Collision Report records all the collisions that occur during simulation of the current
operation, according to the active collision set in the Collision Viewer.

The Dynamic Collision Report enables you to do all of the following:

• Jump directly to the time of a specific collision.

• Save the information in the Dynamic Collision Report in an Excel file for collaboration with other users.
• View a detailed report for the colliding objects in the active collision set or for selected collision pairs in
the Dynamic Collision Report.
• Display all the collisions in a simulation of an operation in conjunction with the Sequence Editor and
Collision Viewer to display all the current collisions.

Note
• One of the following must be set in the Collision Viewer to run the Dynamic Collision Report:
◦ All Displayed Objects
◦ At least one collision set must be active.
Otherwise, the following message appears:

To run the Dynamic Collision Report:

1. From the Sequence Editor, set a current operation and click .

The Dynamic Collision Report window opens.

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 Dynamic Collision Report

2. From the Dynamic Collision Report, click .

• When running in Standard mode, Process Simulate runs a simulation of the current operation in
the background and populates the Dynamic Collision Report.

• When running in Line Simulation mode, clicking causes the Dynamic Collision Report to
start gathering data but does not initiate the simulation. You must start the simulation from
the Sequence Editor or Path Editor. The simulation runs until you terminate it in the same
application. Process Simulate collects collision information and populates the Dynamic Collision

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Dynamic Collision Report

Report. The Start/Stop button pauses or resumes data collection during simulation; however, if
you pause simulation (from the same external application), the system continues to collect data.

Note
• Any pair of colliding objects appears only once for a given Violation status. However, if a given
pair of objects enter a state of collision but then stop colliding and then enter a state of near
miss (or any other violation), they are displayed a second time.
• The Dynamic Collision Report behaves like all other viewers. For example, you can move it,
resize it, sort it, or dock it.

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 Dynamic Collision Report

When the simulation is complete (or terminated), the Dynamic Collision Report displays the following
data about each collision it recorded.

• Time - The time that elapsed from the start of the simulation until the collision occurred. Double-
clicking the time value displays the relevant collision in the Graphic Viewer.
• Object A, Object B — The names of the colliding objects. If an object is in a state of collision with a
number of other objects, there will be an entry containing that object for each collision.
• Violation status - The state of collision of the colliding pair. This can be Collision, Contact, or Near
Miss.
• Violation value - If the objects are in a state of Collision, this is the penetration depth, for Near
Miss, it is the distance between the objects, and for Contact, it remains empty. This calculation is
time-consuming and is only performed if Show Collision Depth is set in the Dynamic Collision Report
Settings. This value is not calculated when one or both objects in the pair is a point cloud/point cloud
layer.

Note
For Virtual Machines, it is necessary to keep the OpenGL driver updated to the graphics card.
Otherwise, the Violation value may be empty for Collision status.

• Attributes of the colliding objects - Select these in the Properties Customization.

You can do any of the following:

• Select a collision and click Jump To Time .

The scene is displayed exactly as it was at the specified time.

• Click Collision Mode On/Off .

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Dynamic Collision Report

When this function is active, colliding objects are automatically highlighted.

• Click Show Colliding Pair .

You can select Color Selected Pair:

Or Show Selected Pair Only:

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 Dynamic Collision Report

• Click Customize Columns and select which parameters to display in the Dynamic Collision
Report.

• Click Collision Options to access the Collision Options and fine-tune your report results.

• Click Settings to access the Dynamic Collision Report Settings dialog box.

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Dynamic Collision Report

You can modify any of the following settings:

◦ Calculate collision violation value—When set, the depth of penetration is calculated and displayed
in the Violation Value column. This requires additional computing resources.
◦ Run simulation in Graphic Viewer—When set, the simulation can be viewed in the Graphic Viewer
as Dynamic Collision Report runs the simulation. Otherwise, the simulation runs in the background.
◦ Parent ancestor in set—When set, the report displays Parent Ancestor of Object A and Object B in
separate columns.
◦ Containing ancestors—When set, the report displays the specified Number of ancestors of Object A
and Object B in separate columns.
◦ Ancestor attributes—When set, the report displays an Attribute column for each Ancestor in the
report.
◦ Parent group in set—When set, the report displays the logical Parent Group of Object A and Object
B in separate columns.

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 Minimal Distance Report

◦ Containing groups—When set, the report displays all the Logical Groups of Object A and Object B in
separate columns.
◦ Show start and end violation—When set, the report displays the first and last violations for each
collision entry.

• Click Export to Excel to export the report results to CSV format.

• Click Generate Detailed Report (instead of ) to generate a detailed report. If a collision state
persists, it is reported at each simulation time interval.

Minimal Distance Report

The Minimal Distance Report simulates the current simulation scope and calculates the closest distances
between the objects defined in all the active collision sets (as configured in the Collision Viewer). For each
time interval (as defined in the Sequence Editor), the report records the minimal distance in each collision
set.

For example, in the following collision set:

For each object in the left Objects list, the Minimal Distance Report calculates the minimal distance to
each object in the right Objects list, giving four results, and displays the smallest of these. Thus the report
displays one result for each collision set for each time interval.

The Minimal Distance Report can assist you when making sure you maintain a safe distance between
objects.

Procedure

1. Set an active operation.

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 2. Access the Collision Viewer and configure one or more collision sets for which you wish to track
minimum distance as they move.
3. Click in the Sequence Editor toolbar:

The Minimal Distance Report opens - it is currently empty.

4. In the toolbar, click to begin generating the report.

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 Click if you wish to terminate report execution.
5. View the displayed report.

For each measurement, the report displays the following information:

• Time - The time of the measurement. This is a multiple of the Time Interval set for the simulation.
• Collision Set - The name of the collision set. If multiple collision sets are currently active, the report
contains results from all the active collision sets.
• Object A/B - The names of the objects configured in the collision set.
• Minimal Distance - The minimal distance between object A and object B during the time interval.

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Signal Monitoring

6. Optionally, do any of the following:

• Select a measurement in the report and click , or double-click the measurement to jump the
simulation to the time of the selected measurement.

• Click to access the Minimal Distance Report Settings dialog box.

By default, the simulation runs in the background, However, if you wish to view the simulation
running while generating the Minimal Distance Report, set Run simulation in Graphic Viewer.

• Click to export the results of the Minimal Distance report to a *.CSV file for collaboration and
analysis.

Signal Monitoring

Although the Simulation Panel shows signal values, it can still be difficult to debug complex simulations. To
facilitate debugging, the Signal Monitoring window enables you to view signal values in the expressions in
which they participate.

You can also use Signal Monitoring to evaluate entire Logic Blocks, or only exits, parameters or actions.
After selecting a Logic Block in the Object Viewer, choose Control tab → Debug group → Signal

Monitoring . The Joint Value Sensor and Joint Distance Sensor Logic Block parameters are not
supported.

Procedure

1. To access the Signal Monitoring window, select a module entry from the Module Editor and choose

Control tab → Debug group → Signal Monitoring .

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 Note
You can select one or more modules from the Modules Viewer and open it in the Signal
Monitoring window.

The Signal Monitoring window is displayed with the selected signal expression populating the
Watch Expressions list. In this example, you can view the same signals in all of the following places:
• The Simulation Panel - One signal on each line with status information.
• The Signal Viewer - One signal on each line with signal information.
• The Signal Monitoring window - In the context of the expression which comprises the signal logic.
◦ Items that evaluate to True are highlighted in green.
◦ Items that evaluate to False are highlighted in red.
Each signal participating in the expression is color coded; green if true or red if false and the
expression result noted in the Value column.
The Path column displays the expression’s path if it is nested in a Logic Block (see Logic Resource) or
Module (see Modules Viewer) in the format: Resource, Element, Expression, Value.

Note
If you have nested functions inside functions, for example:

SR(TON(SET,TimeDelay),TON(RESET,TimeDelaay))

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 the Signal Monitoring window displays all the relevant expression values.

2. Connect to a simulation in any of the following ways:

• Change a signal value in the Simulation panel and click Connect to Simulation to refresh
the Signal Monitoring window. For example, setting the kr2210_2*_end_gripper2 input to False,
causes the following result.

This method enables you to easily set or clear selected signals and track the effect on the
expression in which they participate. If the expression is complex, this can be very useful.

• Run a simulation and click Connect to Simulation at any point to see the signal values in
context at any stage.

• Run a simulation and double-click Connect to Simulation to see the signal values continually
updated in context as the simulation runs.

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 3. If the expression is complex, you can click the triangle symbol to its left to break it down into two
component expressions. The Signal Monitoring window duplicates the first part of the expression (up
to the shaded operator) on the next line and the remainder on the third line.

You can repeat this until the original expression is broken down into its simplest components.

Note
Process Simulate analyzes the expression and automatically selects an operator that divides the
expression into two logical components.

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 4. You can expand the Enter Expression area, compose an expression, and click Add To Watch to
add it to the watched expressions.

You can also select a watched expression and click Remove From Watch to remove it from the
watched expressions.

5. Optionally, toggle the Apply Styles button.

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 Signal Viewer

6. Click Close to close the Signal Monitoring window.

Signal Viewer

Signal types

The following signal types are supported:

TYPE BIT SIZE FORMAT RANGE

BOOL 1 Boolean text TRUE\FALSE (1/0)
BYTE 8 Decimal number, unsigned 0 → 255
SINT 8 Signed byte -128 → 127
INT 16 Decimal number, signed -32768 → 32767
DINT 32 Decimal number, signed -2147483648 → 2147483647
WORD 16 Decimal number, unsigned 0 → 65,535
DWORD 32 Decimal number, unsigned 0 → 4,294,967,296
REAL 32 IEEE floating point number +/-3.402823e+38
LREAL 64 IEEE Double-precision floating +/-1.7e+308
point number

Displaying input/output signals in studies

The Signal Viewer displays the actual input and output signals available in the study. It also enables you to
introduce additional signals into the system.

The Signal Viewer appears in a spreadsheet format, as displayed below:

The Signal Viewer contains the following columns:

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Displaying input/output signals in studies

Column Description
Signal Name Displays the following signal information:

• Indicates whether the signal is an input or an output.

• Displays the name of the signal. To add a new signal, or rename an existing signal,
right-click in this column and choose New or Rename from the context-sensitive
menu.
Memory Indicates if the signal is a memory signal. You can check a signal to define it as a
memory signal or to reset the signal address to No Address. Marking a signal as a
Memory signal deletes the signal's Address (see Address column).

This setting is only valid for the PLC S7-PLCSIM V5.4 connection type.

Note
When accessing PLCSIM Advanced memory signals, create Process Simulate input
and/or output signals with the same name as the signals in PLCSIM Advanced. Do
not set Memory.

Type Displays the type of the signal in memory. Options include: Bool, Byte, Word, DWord,
Int, DInt, Real, and LReal. For more information, refer to Signal Types.
Address Displays the address of the signal in the PLC program. To enter an address for the
signal, click and enter the new address.
IEC Format Displays the address of the signal in the IEC (International Electrotechnical
Commission) format.
PLC Resource Enables you to select a PLC resource to which to connect the signal. For details on how
to do this, refer to Select PLC Resource.
Robot Signal The internal name of the signal as specified in the Robot Signals dialog box.
Name
Resource Indicates the resources to which the signal is assigned. This can be:

• The signal owner. For example, a robot, sensor, or conveyor.

• The resources to which the signal is connected via logic behavior (the signal is
connected to the entries or exits of the logic resource).
• The resources to which the signal is connected via SCL logic (the signal is connected
to SCL variables of the resource).
Comment Displays a user comment for the signal. To enter a comment, click in this column and
enter the required text.

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 Signal Viewer toolbar

Signal Viewer toolbar

The Signal Viewer contains a toolbar, as follows:

Button Command Description

Create new signal Opens a dialog box for creating
new signals.

Select the signal types you wish

to create and their quantities and
click OK.

Process Simulate uses four types

of signals (which are not Data
Type signals described in Signal
types. A Process Simulate input
signal is the input TO AN
EXTERNAL PLC. Process Simulate
sends OUT this signal which is
read INTO an external system
such as a PLC when working
in External Connection Mode.
Conversely, output signals are
sent OUT by the PLC, and read
INTO Process Simulate.
• Resource Output Signal and
Display Signals are Output
Signals.
• Resource Input Signals and Key
Signals are Input Signals.
• The only difference between
the different types of Input
signals (Key and Input) and
Output Signals (Display and
Output) are the icons they
use. Siemens recommends
using Resource Input and
Resource Output signals for

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Signal Viewer toolbar

Button Command Description

signals intended for external
communication (for example
with a PLC) and using Key
and Display signals for local
information (signals only used
within the simulation).
• For for more information about
robot signals see Connect
between PLC and OLP Signals
in Robots.
This chart shows the direction
of data exchange for the
different signal types:

Delete signal Opens the Delete dialog for

deleting signals.
Signal Viewer Filter Toggles the Signal Viewer filter,
see To sort the Signal Viewer
Reset Signal Viewer Filter Resets the Signal Viewer filter.

Export to Excel Saves the information in the

Signal Viewer as a .CSV file.

Note
Importing the excel file
in WinMOD or SIMIT
automatically updates the
signal names, addresses and
types.

External Mapping Tool The External Mapping Tool

enables you to map existing
signals in an S7 (Simatic) project
to the signals used in the Process
Simulate simulation.
Signal Mapping Tool The Signal Mapping Tool
enables you to automatically
replace signal names created
in one nomenclature with the

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 Sort the Signal Viewer

Button Command Description

names of another nomenclature.
The tool uses an Excel
spreadsheet as a source to
replace signal names in the
Signal Viewer. If the input
spreadsheet contains more than
one worksheet, all of the
worksheets are processed.

The Signal Mapping Tool also

creates a log file during the
mapping process, containing
errors encountered during
processing. The log file is created
in the directory of the input
spreadsheet.
Cross-reference query Enables you to export selected
signals in the Signal Viewer
into an Excel spreadsheet that
cross-references those signals.
The spreadsheet contains the
following tables: Transitions,
Signal Events, Modules, and
Logic Behaviors, each of which
references the selected signals.

Note
If the Excel application is not
installed on your computer, an
error message is generated.

Open a simulation panel on Opens a new instance of the

selected signals Simulation Panel and loads the
selected signals.

Sort the Signal Viewer

• Click a column header to sort the Signal Viewer according to the criterion of that column.

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 Note
Click the header a second time to reverse the sort order.

• To display the Signal Viewer filter, click .

The signal filter is a cream-colored row located under the signal attribute headers. Each cell in the filter
enables you to filter the Signal Viewer according to the relevant attribute. When a filter is active, its cell is
displayed in a darker shade.

Click again to hide the filter.

• To filter the Signal Viewer by signal attribute values:
Click the filter cell in the column by which you wish to filter the signals. In the following example, the
memory filter box opens.

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 The filter box contains a checkbox for each attribute value in the column by which you are filtering.
Check those values you wish to display, clear those you wish to hide, and click Apply. The Signal Viewer
displays only those signals with the values you selected. In this example, the Signal Viewer will display
signals where Memory=True.
◦ The Signal Name filter box is different to the other filters.

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 Pick operations to list them in the Operations list. The system applies filters by the selected
operations. Additionally, check Show start/end signals only to display only start and end signals.
When you have finished configuring the filter box, click Apply.

◦ The Resources filter box is different to the other filters.

To filter resources in the Signal Viewer, select one of the options in the Filter by Resources list. If the
resource is a device, the Poses dropdown list enables you to select a pose by which to filter. When you
have finished configuring the filter box, click Apply.
• To filter the Signal Viewer by the text of signal attributes: Type text in the cream-colored filter cell of the
column by which you wish to filter the signals. In the following example, one signal matches the filter
criterion.

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 ◦ The textual filter supports the following wildcards:
◊ * — Any combination of characters

Note
‒ Asterisk at beginning of searched text string: "*text" → the search results in signal names
that end with "text" (e.g., "???text", but "???text??" would not be included in the results)
‒ Asterisk at end of searched text string"text*" → the search results in signal names that begin
with "text" (e.g., "text???", but "??text???" would not be included in the results)
‒ Asterisks surrounding searched text string"*text*" is the same as "text" → results in signals
names such as "text??", "??text" and "??text??"

◊ ? — Any character
◦ If you do not include any wildcards, the system behaves as if you had written * <filtered text> *.
• It is possible to filter search the following columns: Signal Name , Address, IEC Format, Robot Signal
Name,Comment. It is no longer necessary to precede the search string with an asterisk *.
• The following signal attributes only possess textual filters: Address, IEC Format, Comment.

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External Mapping Tool

• The following signal attributes only possess signal attribute filters: Memory, Type, PLC Resource.
• After configuring the Signal Viewer filter, the system retains the filter settings for future sessions. Click
to reset the filter.

External Mapping Tool

The External Mapping Tool appears as an icon in the Signal Viewer. It enables you to map existing signals
in an S7 (Simatic) project to the signals used in a Process Simulate simulation.

Note
Due to the common use of Simatic software with Process Simulate, Simatic .sdf format is the default.
However, Process Simulate also allows you to use other third party software. The .sdf file format is as
follows:

Symbol Name (24 char.) | Address (12 char.) | Data Type (10 char.) | Comment (80 char.)

1. Choose Control tab → Mapping group → External Mapping Tool .

or

In the Signal Viewer, click External Mapping Tool .

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 External Mapping Tool

Note
The Signal List is populated.

2. Click Browse.
The File Open dialog box appears.
3. Browse to the .SDF file containing the signals you want to map to Process Simulate and select the file.
4. Click Open.
The Imported Symbol Name list (in the lower pane) is populated with the Simatic signals from the
selected .SDF file.
5. To map a Simatic signal to a Process Simulate signal:
• Select a pair of signals to map, one from the Signal List and one from the Symbol Name list.

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External Mapping Tool

• Click Map.
The relevant Signal Name, Address, and Comment fields in the Process Simulate window are
updated to match those in the Simatic window.
6. To add signals from the imported Symbol Name list that have not been modeled in Process Simulate
to the Process Simulate SignalsList:
• Select the signal to be modeled from the imported Symbol Name list.
• Click Add.
The newly modeled signal appears in the Process Simulate Signal List.

Note
It is possible to model multiple signals by selecting them in the imported Symbol Name list before
clicking Add. However, you must select the signals as a block.

7. To add all signals from an .SDF file that has no existing address in Process Simulate, click ImpMap.

Note
The system applies normal mapping for signals that have an existing address in Process Simulate.

8. In External Connection, specify a remote server to which to connect the signals from the S7 Symbol
List. For information on how to configure external connections, see the PLC tab of the Options
dialog.

To map signals from a Simatic project to Process Simulate:

1. Choose Control tab → Mapping group → External Mapping Tool .

or

In the Signal Viewer, click External Mapping Tool .

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 External Mapping Tool

Note
The Signal List is populated.

2. Click Browse.
The File Open dialog box appears.
3. Browse to the .SDF file containing the signals you want to map to Process Simulate and select the file.
4. Click Open.
The Imported Symbol Name list (in the lower pane) is populated with the Simatic signals from the
selected .SDF file.
5. To map a Simatic signal to a Process Simulate signal:
• Select a pair of signals to map, one from the Signal List and one from the Symbol Name list.

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Signal mapping and robotic signal creation

• Click Map.
The relevant Signal Name, Address, and Comment fields in the Process Simulate window are
updated to match those in the Simatic window.
6. To add signals from the imported Symbol Name list that have not been modeled in Process Simulate
to the Process Simulate SignalsList:
• Select the signal to be modeled from the imported Symbol Name list.
• Click Add.
The newly modeled signal appears in the Process Simulate Signal List.

Note
It is possible to model multiple signals by selecting them in the imported Symbol Name list before
clicking Add. However, you must select the signals as a block.

7. To add all signals from an .SDF file that has no existing address in Process Simulate, click ImpMap.

Note
The system applies normal mapping for signals that have an existing address in Process Simulate.

8. In External Connection, specify a remote server to which to connect the signals from the S7 Symbol
List. For information on how to configure external connections, see the PLC tab of the Options
dialog.

Signal mapping and robotic signal creation

Signal Mapping Tool

The Signal Mapping Tool enables you to map signals (replace one set of signal names and parameters
with another set) or to create new robotic signals, or both in the Robot Signals window. By default, the
tool does this for all the robots (any kinematic device with both a base frame and a tool frame) in the
scene. However, if you selected specific robot(s) prior to launching the command, the tool makes changes
only for those robot(s).

Process Simulate reads an Excel spreadsheet file (SignalMappingTemplate.xlsx) containing the new
signal names and other parameters (the spreadsheet must conform to the Format of the Signal
Mapping Tool). You can access this Excel file from <Installation directory\Program Files\Tecnomatix
<version>\eMPower\Plc\MappingTemplates.

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 Signal Mapping Tool

You can automatically replace signal names created in one nomenclature with new names of another
nomenclature. Often, different engineers working on elements of a simulation choose signal names
differently. Creating the simulation can require standardizing thousands of signal names named by
different methods to one naming method. In this case, you can use the Signal Mapping Tool to replace
the names automatically. For example, you can use the Signal Mapping Tool to convert signals named in
mechanical engineering terminology to corresponding names in electrical engineering terminology. Signal
data is often kept in spreadsheet format and the Signal Mapping Tool enables you to use the spreadsheet
file directly to replace signal names in a simulation program.

When processing begins, the Signal Mapping Tool performs the following for each signal (row) in the
Excel file in order to ascertain whether signal mapping, creation, or both is required and to determine
whether the signal should be a default signal or not:

1. Analyzes the Signal Name:

• If the Signal Name contains a robot tag, for example <Robot>T3_OnOffSignal, Process Simulate
identifies currently selected robots (can be one or more) and replaces the robot tag with the robot
name to form the signal name for each selected robot.
• Process Simulate checks if a signal with this new name exists:
◦ If the signal does not exist, Process Simulate creates a new signal for each selected robot.
◦ If the signal already exists, Process Simulate performs signal mapping to update the existing
signal with the parameters from the Excel file (if multiple robots have signals with the same
name, Process Simulate maps them all).
2. If the Signal Name does not contain a robot tag, for example T5_ExitSignal, Process Simulate
performs signal mapping to update the existing signal (non-robotic signal) with the parameters from
the Excel file (if multiple robots have signals with the same name, Process Simulate maps them all). If
the signal does not exist, Process Simulate skips to the next row in the spreadsheet file.

Note
If you have set an Internal Name for a non-robotic signal in the Excel file, the system returns an
error.

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Run the Signal Mapping Tool

3. If the Function parameter is defined, the signal is created as a default signal and is connected to the
signal function noted in the Function cell.

The Signal Mapping Tool creates a log file during the mapping process, indicating any errors encountered
in processing the spreadsheet file. This can include errors that prevent the mapping of a signal in the
spreadsheet file. The log file is created in the directory of the input spreadsheet file.

The summary section of the log relates to robots only.

Run the Signal Mapping Tool

Procedure

1. Pick robots for which to apply signal mapping/creation.

Note
If no robots are selected, signal mapping/creation is applied to all the robots.

2. Choose Control tab → Mapping group → Signal Mapping .

Or

In the Signal Viewer, click .

The Open dialog box appears.

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 3. Browse to the prepared Excel spreadsheet file.
The following example creates all the default signals for all robots; it creates the signal list for each
robot according to the different entries, while replacing the keyword <Robot> by the name of each
robot instance.

4. Click Open to start the mapping process.

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 The cursor changes to an hourglass to indicate that mapping is in progress. If the mapping finishes
successfully, the tool creates signals for all the robots and displays the following dialog box.

Note
If the input spreadsheet file contains more than one worksheet, all of the worksheets are
processed.

5. Click Yes to view the log file or No to close the dialog box.
The Signal Viewer is updated:

6. If you wish to create a pose signal, add the pose tag to the Signal Name in the Excel file and set
Function = Pose Signal. For example:

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 Signal Mapping Tool warnings and errors

The system creates the following:

• A new pose sensor for each signal and nests them under the robot scope in the Object Viewer.
• A robot signal for each robot pose defined in the Pose Editor and displays them in the Signal
Viewer.

Signal Mapping Tool warnings and errors

Before processing the signals contained in the spreadsheet file, the Signal Mapping Tool checks the
currently-loaded program for duplicate signal names. If there are duplicate names, the Signal Mapping
Tool displays the following dialog box to inform you that it maps a new signal name from the input file to
only one of the signals in the currently-loaded program, even if other signals share the same name.

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Format of the Signal Mapping File

Click Cancel if you wish to abort the process before mapping any signals.

If the Signal Mapping Tool is unable to read the input file or unable to create a log file, a dialog box
appears indicating the error.

If the Signal Mapping Tool encounters a problem mapping a signal in the input file, it reports the details
in the log file. Each entry in the log file identifies the problematic signal by indicating the sheet and line
number of the signal in the input file. The Signal Mapping Tool reports two types of problems:

• Warning - The signal was mapped, but an unusual situation exists.

• Error - The signal was not mapped or only partially mapped. Partial mapping means that the signal was
mapped, but one or more optional attributes were not included in the mapping.

Example of a log file warning:

Warning: (Signals, line 2): The system changed the type of signal with the mechanical name T1_Signal2
from BOOL to INT.

Example of a log file error:

Error: (Create signals, line 2): Missing electrical name for the mechanical name <Robot>_T2_Created1.
Mapping entry was skipped.

Format of the Signal Mapping File

Click SignalMappingTemplate.xlsx to download the Excel spreadsheet template file for signal mapping.

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 Format of the Signal Mapping File

You can access the Signal Mapping Template excel file from <Installation directory\Program
Files\Tecnomatix <version>\eMPower\Plc\MappingTemplates.

The following table describes the columns of the signal mapping spreadsheet.

Column Required /
Name Optional Description
Signal Required Signal Name (also known as Mechanical Name). This is the name of
Name the signal in the current program. The Signal Mapping Tool replaces
this name during mapping with the Electrical Name.
Electric Required for The tool replaces a signal's Mechanical Name with this name during
al Name signal mapping mapping.

Optional for
robotic signal
creation
Internal Required for The Internal name of the robotic signal.
Name robotic signal
creation

Must be absent
for signal
mapping
Type Required for Describes the signal type. The possible values are BOOL, BYTE, WORD,
robotic signal DWORD, INT, DINT, REAL, and LREAL. The field is not case-sensitive.
creationOptional
for signal
mapping

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Format of the Signal Mapping File

Column Required /
Name Optional Description
Address Required for The signal's address must conform to the specific format described in
robotic signal Robot Signals. The address in this field of the input file replaces any
creationOptional previous Address value for the signal.
for mapping
Comme Optional A description of the signal. If a comment already exists for the signal
nt in the simulation program, the Signal Mapping Tool combines the old
comment with the new one from the input file. The resulting comment is
comprised of:

• The previous name of the signal.

• The new comment from the input file.
• The previous comment.
Functio Optional If you set this parameter to a robot function name, this signal becomes a
n default signal. In this case, it is recommended to set the Signal Name to
a string that clearly indicates the function name.

• If you omit this parameter, the signal is created but not as a default
signal.
• If you enter the name of a function that does not exist, the system
returns an error.
Ignored Optional If this parameter is set to Yes, the system ignores the data for this signal.
If set to No or undefined, the system takes all the data into account.

Note
If Skip WAIT commands in the Motion tab of the Options dialogis
cleared, the Ignored column is hidden.

Note
The Signal Mapping Tool terminates processing when it finds the expression EOF in the first cell of a
line or if there are 200 blank lines.

Additional information about the signal mapping spreadsheet:

• The first row is used for column headers (is not processed).
• Blank rows do not interrupt signal processing.
• The Type and Address fields are optional for signal mapping.
• The Signal Name is always required and the Electrical Name is required for signal mapping.

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 Simulation Monitor

Simulation Monitor

When running a robotic or human simulation, you can use the Simulation Monitor to view the messages
related to each robot or human model, as well as non-robot related messages.

Choose View tab → Screen Layout group → Viewers → Simulation Monitor.

The messages display in realtime as the simulation runs when the Simulation Connected icon is
pressed. If this icon is not activated, the Simulation Monitor displays messages only when the simulation is
paused and at the end of the simulation.

The viewer contains the Main tab which displays all non-robot related messages, and a tab for each robot
or human model in the simulation. If you close robot tabs, the messages for those robots are displayed in
the Main tab.

The toolbar of the Simulation Monitor provides tools to filter the messages according to levels of severity
and other pertinent information. You can apply one or more filters, in various combinations.

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Simulation Monitor

Icon Description
Show error messages

Show warning messages

Show information messages

Show program messages

Shows robot instructions such as motion and OLP

commands.
Show simulation messages

Shows simulation details of robot instructions such

as signal value evaluation and customized OLP/
motion layer lines.

Note
You can only activate this option if Show
program messages is active.

Show trace messages

Shows trace information concerning robot

instructions for debug purposes.

Note
You can only activate this option if both
Show program messages and Show simulation
messages are active.

Enables you to open the Robot Program viewer.

In this case, the program run by the active robot
is loaded in Robot Program viewer. If you received
a message to resume a paused robot operation via
the Robot Program viewer, use this icon.
Show cable messages

Shows cable validity warnings and information.

Export message to text file: Clicking copies/exports the messages to a temporary text file and
automatically launches it to allow you to search for different messages.

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 Simulation Monitor

You can also click on the Simulation Monitor toolbar opens the following dialog box and enables you to
configure the following settings:

• Activate auto-opening of tabs: When set, the Simulation Monitor automatically opens a new tab for
each robot that returns messages. When clear, all the messages are stored on the main tab. However
you can select a robot or human model and click to open a tab for the selected item.
• Activate auto-scrolling of tabs: When set, the Simulation Monitor automatically scrolls to the last

message - the message display is updated continually. Clicking freezes the message display
(simulation proceeds) and enables you to examine messages of interest. Clicking this icon again
resumes message updating.
• Parallel tasks messages: When set, the Simulation Monitor lists messages generated by robot
background tasks.

The Simulation Monitor includes the following columns:

Column Description
The message's line index

The message's severity level

The simulation time at which the message was

recorded
Message The message's content.

Robot instructions are shown in the following

format:
(<Operation>) (<Location>) (<Robot Module>)
<Message>

You can copy one or more messages and their details by dragging your cursor over the message table and
then paste them, for example into a spreadsheet.

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Snapshot Editor

The message list continues to display even after you reset the simulation to the start, and even after
closing the Simulation Monitor and reopening it. The list is deleted when you press the Play button and
start the simulation again.

Snapshot Editor

The Snapshot Editor displays the snapshots created from engineering data displayed in the Graphic
Viewer. Snapshots are used to store specific views and viewing angles during your work for later reference.

Snapshots preserve the current view of the workcell. The recorded view includes device poses, annotation
PMIs, and the following object attributes:

Attribute Description
Point of View Rotates the view to the angle and to the zoom level, from which the snapshot was
taken.
Object Visibility Restores the objects' visibility. If not checked, all objects remain displayed or hidden,
as currently set.
Object Locations Restores locations of objects at the time when snapshot was taken. If location was
updated since then, it will differ from the one stored in the snapshot. You can use
this option to undo changes or to work with different layouts in one study. Each one
can be used and saved to eMServer.
Device Poses If devices were set to a pose when the snapshot was taken, these positions are
restored. Otherwise, they remain in their current pose.
Object Attachments between objects are reset to the state when the snapshot was taken.
Attachments This may result in restored attachments or detachment of currently attached objects,
as when the snapshot was taken.
Object Colors Restores the colors of objects to what they had been when the snapshot was taken.
If not checked, the colors remain the same as they are currently.
Object Viewing Objects now in Wireframe mode, for example, that were Shaded mode when the
Mode snapshot was taken, are restored to the earlier display mode when this option is
selected. Otherwise, they remain displayed in their current mode.
PMI Text Size If the text size of Product Manufacturing Information (from the JT file) was changed
since the snapshot was taken, it is restored when this option is checked.

Snapshots can be useful when constructing a current assembly or for planning future assemblies.

Note
For more information on PMIs, see the General tab of the Options dialog and Load PMI.

1. Choose Home tab→Viewers group→Viewers and select Snapshot Editor.

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 Snapshot Editor

2. Click New Snapshot .

A new snapshot of the image currently displayed in the Graphic Viewer appears in the upper part of
the Snapshot Editor, with the default name Snapshot_#.

Note
You can display snapshots in the upper part of the Snapshot Editor in three views: list, small icons
or large icons (above). Select the view using buttons in the Snapshot Editor. The lower part of the
Snapshot Editor displays the currently selected snapshot.

3. After creating a snapshot, you can use the buttons in the Snapshot Editor to perform the following
functions:

Icon Name Description

Apply Replaces the image in the Graphic Viewer with the
Snapshot selected snapshot. You can apply any of the following
by clicking the dropdown arrow and selecting from:
Point of View, Objects Visibility, Objects Locations,
Device Poses, Objects Attachments, Objects Colors,
and Objects Viewing Mode. By default, only the point
of view is applied.
Edit Snapshot Enables you to enter a name, type and description for
Properties the selected snapshot. A snapshot must have a unique
name. When a description is entered for the snapshot,
it is displayed next to the snapshot if the snapshot is
displayed in the lower part of the Snapshot Editor.
Update Changes the selected snapshot to the image displayed
Snapshot currently in the Graphic Viewer.
Remove Deletes the selected snapshot.
Snapshot
Add Markup Opens the Mark Up Editor with the selected snapshot
displayed. Using the Mark Up Editor, you can add
callouts and text to the snapshot, and save the image
as a .bmp or .jpg file. Refer to Markup Editor for more
information.
Remove Deletes any markings added to the snapshot using the
Markup Mark Up Editor. This option is only enabled when a
snapshot includes markings.

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Test Manager

Icon Name Description

List Displays snapshots in the upper part of the Snapshot
Editor in a list view.
Small Icons Displays snapshots in the upper part of the Snapshot
Editor as small icons.
Large Icons Displays snapshots in the upper part of the Snapshot
Editor as large icons.

Test Manager

Note
You must run Teamcenter 10.1.3 (or higher) to use the Test Manager.

The Process Simulate Test Manager enables you to record the test results of test procedures designed in
Teamcenter. These tests verify that a given process/operation performs as required. Running the tests and
repeating them enables you to verify that the process/operation is designed correctly or to identify defects
at an early planning stage, saving much effort and expense otherwise required to fix the process.

After opening the Test Manager in Process Simulate and selecting a process or operation, you can view
the tests you defined in Teamcenter for the selected process/operation (or its child objects), including all
the steps for each test. After running tests (manually), you can:

• Record a test result for each instance of running each test. The complete set of results comprises the
execution history for the selected test.
• Edit previous test result entries.

When you have finished recording test results, you can run Teamcenter Update to update the Teamcenter
server.

Using the Test Manager

1. In the Teamcenter Manufacturing Process Planner, configure a test case and test instance. For
information on how to do this, refer to the Teamcenter documentation. If this test has already been
configured, you can omit this step.
2. Right-click the process in Teamcenter and choose Open with Process Simulate.

3. In Process Simulate, click .

The Test Manager appears.

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 Test Manager

4. Select an operation or process in the Operation Tree. If you defined tests for the selected operation
or process (or its child objects) in Teamcenter, these are displayed in the table of tests in the top left
of the Test Manager window.

Note

If you wish to save space in the Process Simulate application, click to hide the right pane of the
Test Manager window.

5. Click a test in the table of tests to display its test steps (as defined in Teamcenter) in the Steps area
and its Execution History (if any has been recorded).
6. To add a test result record to the Execution History pane:

a. Click .
A new result line is inserted at the top of the Execution History pane.
b. In the Result Description, set the Status of the result (the status options are defined in
Teamcenter).
c. Write the Details of the result.

d. If you wish to attach an image of the current scene in the Graphic Viewer, click . If you

wish to change the attachment, click to remove the current one, set the Graphic Viewer as

desired and click .

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Transition Editor

e. Click OK to add the new result.

7. To edit an existing test result:
a. Select a test result entry.
The result details are populated in the Result Description area.

b. Click .
c. Change the Status of the result if necessary.
d. Edit the Details of the result if necessary.
e. Click OK to save the changes.
8. Run Teamcenter Update.

Transition Editor

The Transition Editor is accessed by double-clicking an icon in the Transition column of the Sequence
Editor.

The Transition Editor is used to edit operation start conditions when transitioning between operations,
when running simulations in Line Simulation mode.

The Common Condition is the start condition for the operation(s) listed in the Operation column.

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 Transition Editor

1. Click Edit Condition.

2. Do any of the following to edit the condition expression:

• Type a freehand expression.
• As soon as you type a character, Process Simulate opens a list box with suggestions to complete the
character into a legal word.
The list contains all operators, signals, constants, etc. that are in context. Select the appropriate
item.

• Press <CTRL + <space> to open the complete list without typing anything.
• Copy/paste text from other sources.
• Double-click signals in the Signal Viewer or drag-and-drop them into the Edit If Statement
Condition dialog box.

Note
• The expression editor also supports Undo and Redo.

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Transition Editor

• If, during the current editing session, the expression is not valid, the system underlines invalid
words in red, and encloses the expander in a red box.

• It is not possible to accept the expression until you have resolved all the syntax problems.

3. Click OK.

If the Common Condition is the start condition for more than one operation in the Operation column:

• The Branch Type specifies whether fulfilling the Common Condition triggers all the operations
(simultaneous) or just one of them (alternative). You can click the relevant Branch Type cell and
select Simultaneous or Alternative. If you select Alternative, you must include at least two alternative
operations in the Operation column. It is also possible to have a mixture of simultaneous and
alternative operations.
• You can select an operation and click its Condition cell to edit its start condition, as described above. By
default, this is the Common Condition. After editing the condition, the operation's start condition is the
product of the common condition AND the operation's updated start condition.

Note
Transition Conditions are entirely disregarded in PLC mode. To start operations in PLC mode you need to
use START signals, though for Robotic operations it is recommended using program and Robot Default
Signals.

Then operations that are expecting a true transition condition and no start signal in PLC mode, do not
start.

This video demonstrates transition conditions.

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 Variant Viewer

Note
Videos are not included in PDF. To access videos, use HTML.

Variant Viewer

Viewing variants

The Variant Viewer displays the roots of loaded Teamcenter structure as root nodes. The Variant Viewer
loads the VariantRule structure and matching information at the time of opening the viewer or loading
data from Teamcenter; therefore, changes made to Variant Rules are not reflected in the Variant Viewer
until you re-load the data from Teamcenter.

The Variant Viewer enables you to select objects of interest and view them in different viewers by
activating various Variant Rules. This causes all objects (including multiple part appearances) that meet the
rule’s conditions to be selected and enables you to observe and analyze differences between rules.

The Variant Formula column displays the relevant rule conditions in the Object Viewer and Mfg Viewer.

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Using the Variant Viewer

Using the Variant Viewer

You can use any of the following options in the Variant Viewer to select objects. The following examples
use the Object Viewer to demonstrate the results.

• Positive Selection: Click a rule. The selected rule is highlighted in blue and all objects that meet the
conditions of the rule are selected.

• Positive Multiple Selection: Click multiple rules. All variant objects that meet the conditions of any
selected rule (OR) are selected.

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 Using the Variant Viewer

• Inverse Selection: <Alt> + click a rule. The selected rule is highlighted in red and all objects that do not
meet the conditions of the rule are selected. This is known as an inverted selection.

• Inverse Multiple Selection: <Alt> + click multiple rules. All objects that do not meet the conditions of at
least one selected rule are selected.

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Using the Variant Viewer

• Positive and Inverted Selection: Click one or more rules and <Alt> + click one or more additional
rules. All objects that meet the conditions of at least one positively-selected rule OR do not meet the
conditions of at least one inversely-selected rule are selected.

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 Configure the Variant Viewer

Note
After activating rules in the Variant Viewer to make your selection, you can <Ctrl> + click more objects
in the other viewers to add or remove them from the selection.

Configure the Variant Viewer

Procedure

1. Click .
The Variant Viewer Configuration dialog box appears.

2. Excluded types is disabled in the current version of the Variant Viewer.

3. You can select Only leaves if you wish to consider only leaf nodes when selecting objects in the
Variant Viewer. A leaf node is any node that lacks child nodes.

Note
When you use the Only Leaves option with a weld operation, the assigned welds (the weld
locations) are considered as the leaves, rather than the weld operation itself. In this case, if MFGs of
different Variants are assigned to the same weld operation, the weld-operation itself is not selected
- only the weld locations under the weld operation are selected, according to the current variant
rule.

4. Click OK in the Variant Viewer Configuration dialog box to save your settings. If any variant rules are
currently active, the system prompts you for confirmation before applying the new selection.

Variant matching logic

Variant Viewer matching in Process Simulate on Teamcenter is based on matching rules in Teamcenter.
For example, activating the Allow multiple values for option checkbox can change the matching in
Teamcenter as well as the sequence in the Variant Viewer.

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Waypoint Viewer

Teamcenter considers hierarchy to determine if objects match.

For 094363/A;1-OffroadBuggy (View) in the example above, at first glance, it seems to match Buggy=Off
road. But in fact there is no match because its parent does not match Buggy=Off road. Currently, variant
matching does not work for Resources (even when they fit a VariantRule).

Waypoint Viewer

A waypoint is a defined location through which the TCPF of a robot must pass before and after performing
an operation (drilling and riveting operations are supported). You can use waypoints to assist in planning
collision-free paths for robots.

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 Waypoint Viewer

Note
Waypoints are only supported for NCCODE and default controllers.

The Waypoint Viewer enables you to configure waypoints for a selected robot, connect operations
(assigned to the selected robot) to the waypoints, and save these as a structure. You can configure
waypoints and operations in the Waypoint Viewer using the following methods, singly or in combination:

• Connect a number of operations to a waypoint: The robot must pass though the waypoint whenever it
performs any of the connected operations.
• Connect an operation to a single waypoint which is itself connected to a waypoint (or chain of
waypoints): The robot must pass through all the waypoints whenever it performs the connected
operation.

Using the Waypoint Viewer saves configuring identical via locations for multiple operations. Savings in
time and effort increase the more your Waypoint structure expands.

The Waypoint Viewer provides a graphical, intuitive view of the waypoint structure for the selected robot.
When your waypoint structure is complete, you can save it in the scene, reuse it for additional operations,
and/or download it to the robot.

Note
• You can only download waypoint structures to robots using the Waypoint Viewer. The Download to
Robot command does not enable you to do this.
• Waypoints are not supported when running line simulations.

1. Choose View tab → Viewers group → Waypoint Viewer to display the Waypoint Viewer window.

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Waypoint Viewer

2. Click the dropdown box in the Waypoint Viewer toolbar and pick a robot.
If a waypoint structure has already been saved for the selected robot, this is loaded into the Waypoint
Viewer.

3. Click Create Waypoint to create a new waypoint.

The new waypoint is created at the current robot TCPF location and displayed in the Waypoint
Viewer. The Robot Jog dialog box opens to enable you to manipulate the robot TCPF (and the
waypoint location).

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 Waypoint Viewer

4. Add all the required waypoints.

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Waypoint Viewer

Note
New waypoints are displayed with a shaded background and a symbol to indicate that they are
currently unconnected.

5. Select a weld operation or a compound operation (with nested weld operations) in the Object

Viewer and click Add Operation to add it to the Waypoint Viewer. Do this as many times as
required.

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 Waypoint Viewer

Note
• New operations are displayed with a shaded background and a symbol to indicate that they
are currently unconnected to any waypoint.
• Operations nested under the compound operation that are not weld operations are ignored.
• When adding a compound operation, all weld operations nested under the compound are
connected to the selected waypoint, unless a specific weld operation appears in the Waypoint
Viewer and is connected to a different waypoint.

6. In order to convert the waypoints and operations into a structure:

a. Click Link Waypoints to toggle the link tool to the On state.

b. Click a waypoint, drag your mouse to a waypoint or operation, and click again.

Note
The direction in which you drag the mouse sets the direction of the link. You cannot create a
link from an operation to a waypoint; only links from waypoints to operations are legal.

c. Repeat this process until you have created all the required links.

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Waypoint Viewer

d. Click again to toggle the link tool to the Off state.

In this example, when you run the WeldOp1 operation, the robot TCPF passes through Waypoint1,
Waypoint, and all the locations of WeldOp1. After this, the robot returns to Waypoint and
Waypoint1.

Note
Running the WeldOp1 operation has no impact on WeldOp2. If you want WeldOp2 to run after
WeldOp1, you need to link them in the Sequence Editor.
If WeldOp2 is linked to WeldOp1 in the Sequence Editor, when you run the WeldOp1 operation,
the robot TCPF passes through Waypoint1, Waypoint, all the locations of WeldOp1, and then
returns to Waypoint and Waypoint1. After this, the robot proceeds to Waypoint2, all the locations
of WeldOp2, and then returns to Waypoint2 and Waypoint1.

In the following example, two operations are connected to the same waypoint:

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 Waypoint Viewer

When you run the WeldOp1 operation, the robot TCPF passes through Waypoint1, Waypoint, and all
the locations of WeldOp1. It then returns to Waypoint and Waypoint1. Similarly, when you run the
WeldOp2 operation, the robot TCPF passes through Waypoint1, Waypoint, and all the locations of
WeldOp2. It then returns to Waypoint and Waypoint1.

Note
• If WeldOp2 is linked to WeldOp1 in the Sequence Editor, when you run the WeldOp1
operation, the robot TCPF passes through Waypoint1, Waypoint, and all the locations of
WeldOp1. After this, the robot proceeds directly to WeldOp2 and all its locations, and then
returns to Waypoint and Waypoint1. In this example, Waypoint is a common waypoint between
the operations, so the robot is not required to pass through it.
• If you link a compound operation to a specific waypoint, all the child operations of the
compound operation are linked to the selected waypoint (lower level operations are ignored).
However, if you link one of the child operations (for example, OperationY) to a different
waypoint (for example, WaypointX), OperationY is linked to WaypointX and all the other
operations remain linked to the first specified waypoint.

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Properties Viewer

7. Optionally, you can use the zoom buttons to adjust the view of the Waypoint Viewer. This
is especially useful if you have a complex structure.

8. When you are satisfied with your waypoint structure, click to download it to the specified robot.

Properties Viewer

Viewing and editing properties

You can add properties to items, revisions, and occurrence objects in Teamcenter. When running Process
Simulate, you may wish to view or edit these properties. The Process Simulate Properties Viewer enables
you to view object properties assigned in Teamcenter without quitting Process Simulate. If you edited
properties, you can run Teamcenter Update at the end of your session to update Teamcenter. The
Properties Viewer is synchronized with other viewers in Process Simulate. For example, changing the
position of an object in the Graphic Viewer updates the relevant properties in the Properties Viewer.

Note
• The Properties Viewer supports Teamcenter objects only (it does not support Occurrence Groups,
Swept Volumes, 3D on Compounds, Activities, newly-created objects, and Process Simulate
operations).

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 Access the Properties Viewer

• Properties shaded in gray are read-only properties. This may be due to one of the following reasons:
◦ The property has been configured as read-only in the TCPSMappingConfiguration.xml configuration
file. For more information on configuring the TCPSMappingConfiguration.xml configuration file,
see the Tecnomatix Administration documentation. This affords the administrator greater control
where necessary.
◦ The item whose properties you are viewing is not editable in Process Simulate, for example,
products.
◦ The property is also read-only in Teamcenter.
• The Engineering tab enables you to edit external connections of PLC resources.
• After creating a new object in Process Simulate, its properties remain empty in the Properties Viewer
until you perform Teamcenter Update. After updating Teamcenter, the Properties Viewer displays the
object's properties (without reloading).

Access the Properties Viewer

Procedure

1. Select an object.
2. Choose View tab → Screen Layout group → Properties Viewer.
The Properties viewer appears and displays the properties of the selected object.

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 Note
You can open up to 15 instances of Properties Viewer.

The following table describes the functions available in the Properties Viewer.

Icon Name Description

Toolbar
Customize Opens the Properties Viewer — Properties Customization dialog box and
Properties enables you to select which properties to display and which to hide. Refer
to Properties Customization.
Export to Excel Enables you to create a report of the properties displayed in the Properties
Viewer. The report is in CSV format and you can distribute it by email. Refer
to Export to Excel.
Title bar

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 Edit properties in the Properties Viewer

Sync Selection

Opens the Synchronize menu.

Select a viewer with which to synchronize the display of the Properties

Viewer. The Properties Viewer displays the properties of whichever object
you select in the synchronized viewer.

Click Disconnect to unsynchronize the Properties Viewer.

Lock Locks the display of the Properties Viewer. The Properties Viewer displays
the properties of the currently selected object even after you click other
objects in any viewer.

When locked, the Properties Viewer title bar displays the Unlock icon. Click
the Unlock icon to unlock the Properties Viewer.
Close Closes the Properties Viewer.

Edit properties in the Properties Viewer

You can edit the following supported value types: String, Integer, Double, Date, Transformation, Vector,
Enumeration (single and multiple).

Procedure

1. Click the property you wish to edit to open the relevant editing window.
2. Edit the property.
3. Run Teamcenter Update to save the changes to the Teamcenter database.

Properties Customization

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 You can customize the display of the Properties Viewer if, for example, you wish only to display a subset of
the available object properties.

Procedure

1. In the Properties Viewer, click .

The Properties Viewer - Properties Customization dialog box appears.

2. Object type is a list of all the base class elements that

possess valid properties, as defined in the mapping file <installation
directory>\eMPower\TeamcenterIntegration\dat\TcPsMappingConfiguration.xml.Select an Object type
to display in the Properties Viewer. By default, the object type selected is the type of object currently
displayed in the Properties Viewer or its closest ancestor. If the Properties Viewer is empty, the first
Object type is selected.Available properties contains a hierarchy of all the classes derived from the
Object type you selected.

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 Export to Excel

3. List the properties you wish to display in the Properties Viewer by editing Show properties in
following order, as follows:

• Select a property in Available properties and click to add it.

• Click anywhere in Available properties and click to add all the available properties.

• Select a property in Show properties in following order and click to remove it.

• Click anywhere in Show properties in following order and click to remove all the
properties.

Note
By default, Show properties in following order contains all the available properties.

4. Set the order of the properties as you wish to display them in the Properties Viewer by editing the
Show properties in following order list, as follows:

• Select a property in Show properties in following order and click to move it up the list.

• Select a property in Show properties in following order and click to move it down the list.
5. Click OK. The Properties Viewer - Properties Customization dialog box closes and the Properties
Viewer displays the selected object properties.

Note
You can edit the Show properties in following order list for multiple object types in a single
session. Clicking OK then stores the new configuration for all the types.

Export to Excel

When the Properties Viewer displays object properties, you can export a report in CSV format.

Procedure

1. In the Properties Viewer, click . The Save As dialog box appears.

2. Select a name and location for your report and click Save.

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Relations Viewer

Note
If the contents of a cell in the report are not fully visible, hover your mouse over the cell to view a
tool tip with the full cell contents.

Relations Viewer
The Relations Viewer enables you to view objects related to the following types of object:

• Programs or operations
• Resources (resource, tool prototype assignment)
• Products (part, part prototype assignment, part appearance)
• MFGs
• Assemblies (OG)
• Robotic Programs
• Triggers
• Appearances (when the Relations Viewer is focused on operations)

Clicking any of these objects in the appropriate viewer causes it to become the root object of the Relations
Viewer. The Relations Viewer is synchronized with the other viewers and displays all changes as they occur.

Deleting an object from the Relations Viewer severs its relationship with the root object.

To delete an object from the Relations Viewer:

Do one of the following —

• Select the object you wish to delete and choose Home tab → Edit group → Delete.
• Right-click the object you wish to delete and choose Delete
• Select the object and press Delete from the keyboard.

The Relations Viewer displays the physical relations between the products, resources, working assemblies,
and MFGs in the currently loaded program or operation.

Note

• If you loaded a program, you must activate to view results in the Relations Viewer. This is
because the Relations Viewer does not support direct relations - those associated with the parent
program - but only indirect relations - those associated with the child operation.

The Relations Viewer enables you to perform the following actions:

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 Relations Viewer

• View the process hierarchy

• View the process relations, such as:
◦ View all parts connected to this process
◦ View all MFGs connected to this process
◦ View all tools connected to this process
• Identify relations between objects within specific operations
• Add / Delete / Modify connections
• View all working assemblies consumed by the current operation
• View paint triggers, refer to Create paint trigger.
• Identify which Appearances are Primary Appearances, as indicated by underlining in the Relations
Viewer

The toolbar of the Relations Viewer includes the following options:

Button Tool Description

Highlight Highlights all objects associated
with the selected operation in
blue in the Graphic Viewer.
Display All Displays all objects that are in the
Relations Viewer in the Graphic
Viewer.
Blank All Blanks the display of all objects in
the Relations Viewer.
Show Sub-tree Relations Expands the display and shows all
of the components nested under
the product assemblies shown on
the tree.

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Relations Viewer

To open the Properties dialog box for a node under Products, Resources, or MFG, right click on the node
and select Properties from the context menu.

The folders available in the Relations Viewer depend on the type of object at its root. The following table
lists the available folders for each type of object:

Object Available Folders

Operations Products, Part Appearances, IPAs,Resources, MFGs, Swept
Volumes, Referenced Operations, Motion Segments
Resources Assigned to Operations, Simulating Operations
MFGs Assigned to Operations, Assigned Parts
Parts and Assemblies (OG) Assigned to Operations, Simulating Operations, Assigned to MFGs,
Static Appearances
Robotic Programs Owning Robot, Volumes
Part Appearances (dynamic - line Assigned to Operations
simulation mode only)
Part appearances (static - Robcad Origin Part, Scope Operation
studies only)
Tool/Part Prototype Assignments Assigned to Operations
Robots Assigned to Operations, Simulating Operations, Mounted Tools,
Programs, Motion Volumes
IPAs Assigned to Operations, Simulating Operations, Assigned to MFGs,
Static Appearances, Origin Operation

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 Robot Program Viewer

Robot Program Viewer

Refer to Robot program viewer.

Access robot information in Robot Center

You can use the Robot Center to find relevant information about all robots in the scene.The Robot Center
lists all the robots in the current scene in a tree hierarchy together with the name of the relevant robot
controller. This viewer facilitates access to all robot features from a single centralized location.

Procedure

1. To access Robot Center, choose Home tab → Viewers group → Robot Center or Robot tab → Setup
group → Robot Center.

All the standard functionality of the Object Viewer is also implemented in the Robot Center.

2. If necessary, click to refresh the data in the Robot Center.

3. (Optional) Expand each robot node to reveal information about it. The options vary depending on the
robot controller.
• System Frames—Enables you to edit, add, and delete frames. Right-click this node to create or
update frames from the backup.

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Access robot information in Robot Center

• Tools—Lists all the tools currently mounted on the robot.

• Operations—Lists all the operations assigned to the robot. You can load operations in Robot
Program Viewer or Path Editor, or download them to the robot.
• Programs—Lists all the programs assigned to the robot. You can load operations in Robot
Program Viewer or Path Editor, or download them to the robot.
• Poses—Lists all the robot's poses. You can perform all pose-related actions: Edit, add, remove,
jump to, and move to pose.
• Signals—Lists all the robot's signals and modules, enabling you to access the Signal Viewer and
Module Viewer.
• Modules—Lists all robot modules, both standard modules and modules that run in the background
(in parallel). You can add, remove, and edit modules.
• Parameters—Lists all the robot parameters. Double-click to open the Robot Parameter Editor.
• Safety—Opens the Robot Safety Manager.
4. (Optional) Right-click a robot to open a menu that enables you to access setup commands available
for the controller of the specified robot.

Note
By default, Robot Center runs in Setup mode.

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 Access robot information in Robot Center

5. (Optional) When you have finished setting up the robot, switch to Simulation mode. In this case,
Robot Center only displays commands required when running simulations.

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Access robot information in Robot Center

Note
• Currently, ABB, Fanuc, Kuka, Kawasaki, and Yaskawa robot controllers are supported.
Unsupported controllers are marked in the Robot Center with *.

• Controller support is delivered through updates to the controller version, which are periodically
released (independent of the Process Simulate release schedule).

6. Right-click a robot and select the robot action you wish to perform:
Robot Properties, Mount Tool, XML Checker, Open machine data folder appear in both Setup and
Simulation mode.
In Setup mode you can access all commands formerly accessible from the Robot Setup dialog box.
The content is displayed according to the controller used.

Note
For unsupported controllers, use the regular Process Simulate commands (for example, poses,
operations, and programs). For setup features, use the Robot Setup command.

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 Simulation panel

Simulation panel
Refer to Simulation Panel.

Path Editor
The Path Editor provides an easy way to visualize and manipulate path data by displaying detailed
information about paths and locations. Different types of paths are supported, including Assembly Studies,
Human and Weld.

To launch the Path Editor, choose Home tab → Viewers group → Path Editor. The Path Editor contains a
tree on the left and a table of values on the right.

Note
Pre-selected operation(s) or robotic programs are automatically loaded in the Path Editor.

When the Path Editor is exported to Excel (Export to Excel), the following column will always be exported
at first position: Type - displays the type of the operation.

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Path Editor

The tree contains the hierarchy of paths and locations in the current operation. At the root of the tree is
the name of the current operation. Selecting a location displays it in the Graphic Viewer.

The table contains details about each location in each path. For example, when an operation is selected,
the table contains the information defined during Teach Pendant, such as location attributes. You can click
directly inside table cells to change the data, as required.

In the Path Editor, you can easily add, delete, copy, paste and reorder paths, locations, and operations.
This can be performed within a path and among different paths. Paths can be clicked and dragged from
an Object Viewer or the Graphics Viewer (only locations can be dragged from the Graphics Viewer) into a
compound operation.

Note
You can add the same operation to multiple programs.

You can select multiple locations in the Graphic Viewer, and drag and drop to insert them anywhere in
an operation in the Path Editor Tree.

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 Path Editor

When you load a robotic path in the Path column of the Path Editor:

• If it is loaded as robotic operation, you can refer to its path number within the loaded program.
• If it is loaded as a root or within a compound operation, no path number is shown and you cannot edit
it.

Click to simulate the loaded operation.

During simulation a light blue slider is displayed in the active Graphic Viewer. This shows the name of the
operation simulated and how much time has elapsed. If you are running in Line Simulation mode, the
slider is not displayed, and LineOperation is displayed instead of the operation name.

Clicking the time changes the time format to hrs:mins:secs:ms, and clicking it again changes back to the
default time format. The slider enables you to move the operation backwards or forwards by dragging its
button. Hovering over the slider causes the button to display as a ball. The elapsed time displays at the
hover point, and if that point is ahead of the button, the simulation pauses when reaching it. Clicking the

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Path Editor

slider causes the simulation to jump to the point you specified. The slider is also displayed in the Sequence
Editor.

If you are Running Multiple Path Editors and/or the Sequence Editor with a different operation in
each one, when you change the focus from one editor to another, the slider's operation name changes
accordingly in the Graphic Viewer. Alternatively, you can click the arrow beside the slider's operation name
to open the slider operation menu.

This menu displays the operations loaded in the open Path Editor windows and the Sequence Editor (in
Line Simulation mode, only LineOperation is displayed). Hovering over an operation (only those loaded
in one of the Path Editor windows) highlights it in the Graphic Viewer providing a visual indication before
confirming your selection. Clicking any of the operations changes the focus to the relevant Path Editor or
Sequence Editor instance. You can click the Play/Pause button to run or pause the simulation, or the Reset
button to reset the simulation.

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 Path Editor

Note
It is possible to edit the data even while a simulation is paused or running without needing to reset it.
For more details, refer to Edit OLP commands in the Path Editor.

You can run a simulation from a selected location in a robotic operation, and avoid the possible delay of
running reset and fast forward in the background:

• From the Customize dialog box, drag the Play Selected Location From Current Robot Position icon
to your user interface. Select a location and click the icon to run the simulation from there onwards. The
resulting simulation may be different than expected, because all simulation events before the starting
location are ignored (viewpoint events, OLP attach/detach, hide/display, grip/release commands, etc.). In
the non-simulated segment, collision detection is also skipped.

The Path Editor toolbar appears as follows:

The following table describes the options available in the Path Editor toolbar:

Button Command Description

Add Adds the current operation in the Object Viewer to the Path Editor.
Operations to
Editor
Remove Item Removes the selected item from the Path Editor. (This action does not delete
From Editor the operation.)
Add Operation Enables you to add an operation to the Path Editor.
to Path Editor
Remove Enables you to remove an operation from the Path Editor.
Operation
from Path
Editor
Move Up Moves one or more selected (sequential) locations up a node in the tree,
i.e., changes the ordered sequence of the operation.

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Path Editor

Button Command Description

Move Down Moves one or more selected (sequential) locations down a node in the tree,
i.e., changes the ordered sequence of the operation.
Customize Enables you to select which columns to display in the Path Editor table.
Columns
To load an existing set of Path Editor columns, click the arrow in the
Customize Columns icon and select a predefined column set.

For information on how to select columns and define column sets, refer to
Customizing The Paths Table.
Set Locations Enables you to edit a parameter for multiple locations. Refer to To Edit
Parameters Multiple Locations in the Path Editor.
Path Segment Enables you to select a segment of the path (a sequential set of locations)
Simulate for simulation. Refer to Simulate path segment.

VCR-Type Controls
Jump to Start Sets the simulation to the start of the loaded operation. The robot jumps to
the first location of the segment scope.
Play Simulation Plays the simulation backwards until the start of the loaded operation. The
Backward to graphic display is only updated during the operation segment scope.
Operation
Start
Step Steps the simulation backwards. The graphic display is only updated during
Simulation the operation segment scope.
Backward
Play Simulation Plays the simulation backwards. The graphic display is only updated during
Backward the operation segment scope.

Note
When playing simulations backwards, the physics engine does not
perform its calculations. For example, if an object has fallen on the
floor during simulation, it remains there when playing the simulation
backwards. Reset the simulation to return to the original state.

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 Path Editor

Button Command Description

Stop\Pause Stops the simulation.

Play Simulation Plays the simulation forwards. The graphic display is only updated during
Forward the operation segment scope.

Note
If your simulation includes any robots that have not yet been initialized,
the system initializes them before commencing simulation. During this
time, the Status Bar displays an initialization message for each robot
undergoing initialization.

Step Steps the simulation forwards. The graphic display is only updated during
Simulation the operation segment scope.
Forward
Play Simulation Plays the simulation forwards until the end of the loaded operation. The
Forward to graphic display is only updated during the operation segment scope.
Operation
Start
Jump to End Sets the simulation to the end of the loaded operation. The robot jumps to
the last location of the segment scope.
Play from this After selecting a location operation, using this command runs the
Location simulation in the background until it reaches the selected location. From
there the simulation continues to run visibly to the user.
Simulation Displays the elapsing time of the running simulation.
Time
Simulation Enables you to modify the simulation speed (even during simulation).
Speed
Simulation Enables you to configure the simulation time interval. This specifies the
Time Interval sampling interval used in calculating locations. Shorter time intervals
provide more accurate and better flowing simulations. Longer time intervals
utilize less of the computer's resources but create jumps and diminish the
viewing quality of the simulation.

For more information on configuring simulation time interval, see

Simulation tab.
Auto Teach When a part moves during simulation, the locations on the part also move
and their absolute coordinates change. As a result, robots may not be able
to find these locations.

Before activating Auto Teach, use the Sequence Editor dialog from the
Sequence Editor to designate which robots will be taught the locations.
When activated, the Auto Teach function sets the following for each

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Path Editor

Button Command Description

location in the simulated operation (always the operation listed first in the
Path Editor):

• The optimal robot configuration from the Robot Solutions listed in the
Robot Configuration dialog. After running the simulation, a appears
in the Configuration column. Double-click this icon to open the Robot
Configuration dialog if you wish to examine the result.
After running the simulation in Auto Teach mode to determine the
optimal robot configuration, the robot uses this configuration when not in
Auto Teach mode.

Click to delete the robot configuration. You can edit the robot
configuration manually after running Auto Teach.
• The absolute position (during simulation) of robotic locations attached to
parts. These coordinates appear in the Teach columns.
It is necessary to run the simulation in Auto Teach mode to determine the
coordinates. After doing this, the robot is able to use the coordinates
when not in Auto Teach mode to find locations that move during
simulation.
If you enter a frame in the Dynamic Reference Frame column, the Teach
coordinates are recorded relative to the selected frame (and not relative
to the world frame). This is useful when parts are located on conveyors or
turntables.
Note: For a mounted workpiece operation, the Teach coordinates are
recorded relative to the robot tool frame.
Open Robotic Opens the Robotic Automatic Path Planner.
Automatic Path
Planner
Update Checks for collisions using the Robotic Automatic Path Planner.
collision
statuses using
Robotic
Automatic Path
Planner

This video demonstrates creating a path.

Note
Videos are not included in PDF. To access videos, use HTML.

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 Path Editor columns

Path Editor columns

Process Simulate automatically creates customized column sets for all supported controllers. For
information on how to load these column sets, refer to Customizing the Path Editor. When you load
an operation, the Path Editor automatically switches to the column set for the assigned robot.

The following table describes the information included in the Path Editor default column set.

Note
For information on the columns displayed for specific robot controllers, refer to the Path Editor topic of
the relevant controller.

Column name Description

General
The names of the paths (operations) and locations currently loaded in the
Paths & Locations Path Editor.

Displays the icon if the location is attached to a part. When you move the
part, the location moves with it. Hover over the icon to view the name of the
part, or click the icon to display the part in the Object Viewer. Not relevant for
Attachment paths.
The length of time it takes the robot to arrive at the location from the previous
Duration location, or time required to perform the entire operation. Read-only.
Displays the OLP commands configured to run at the specified location or
path. Double-click a cell to add an OLP command or edit an existing one. You
can add OLP commands according to the robot controller assigned to the
OLP Commands current operation.
OLP
The name of the location. This is used for XML customization in some
controllers that support inline coordinates. In such cases, the dynamic
parameter Loc Name includes the location inline coordinates instead of the
Display Name location name. Sometimes XML customizations require both.
The reference frame used for the Teach X, Teach Y, and Teach Z taught
relative coordinates. This should be a frame that moves together with the
Dynamic Reference locations, typically the positioner flange frame for locations attached to an
Frame external positioner.
The taught X, Y, and Z coordinates, relative to the Dynamic Reference
Frame, of the location after performing teach. If there is a taught location,
it is always used. If the Dynamic Reference Frame is not explicitly set, the
Teach X, Teach Y, Teach default reference for mounted locations is the robot TOOLFRAME, otherwise
Z it is World frame. Most controllers that support external positioners set

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Skip locations

Column name Description

the Dynamic Reference Frame automatically at upload or during auto teach
simulation, if the external positioners are not already explicitly set. Read-only.
Teach RX, Teach RY, The orientation of the location after performing teach. If there is a taught
Teach RZ orientation, it is always used. Read-only.
Defines the position of the fixed remote tool tip in mounted part context,
when locations are attached to the robot flange. The robot superimposes the
Remote Tcp mounted locations on the remote Tcp frame during simulation.
OLP Dynamic Parameters
The current X, Y, and Z coordinates of the location. If the location is taught,
Teach X, Teach Y, and Teach Z are used instead. These are the relative
X, Y, Z coordinates as they appear in the program file. Read-only.
The current orientation of the location. If the location is taught, Teach RX,
RX, RY, RZ Teach RY, and Teach RZ are used instead. Read-only.
Path #
Enables you to assign numeric values to robotic operations in a program.
This means robotic operations can be called during Line Simulation using
robot default signals. Enabled only for robotic operations loaded under a robot
program.

Note
For information on robot signals, see Connect between PLC and OLP
Signals in Robots.

For information on robotic operations loaded under a robot program, see

Path # Display and modify programs for robots.

Skip locations

When simulating robotic operations in the Path Editor, it is possible to skip specified locations. When a
location is skipped, the robot proceeds directly to the next location without visiting the skipped location.
However, if the skipped location has OLP commands, these are executed.

Note
Currently, this feature is only available when running the Fanuc-Rj, Yaskawa DX200, YRC1000, and
Duerr-Ecotalk robot controllers.

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 Procedure

1. Add the Commented Out column to the Path Editor table, as described in Customizing the Path
Editor.

2. Check locations to skip during simulation (or clear locations). If you select multiple locations,
checking (or clearing) one location sets all the selected locations.

The Commented Out status of locations is synchronized between the Path Editor, Object Viewer, and
Robot Program Viewer.

The following figure shows that after marking additional locations in the Path Editor as Commented Out,
those locations are also commented out in the Object Viewer and Robot Program Viewer (in the Fanuc
syntax, this is indicated by //).

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Running multiple Path Editors

Note
The Commented Out cell is disabled for unsupported controllers.

Running multiple Path Editors

You can open up to 15 instances of the Path Editor. This is useful, for example, if you wish to examine
different operations associated with different robots (without having to reload the Path Editor many times)
or even different operations on a single robot.

To open multiple Path Editors, choose Home tab → Viewers group → Path Editor. Every time you do this,
one more instance of Path Editor opens.

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 Edit multiple locations in the Path Editor

Note
• If no simulation is currently running (and all simulations have been reset), the speed control on all the
instances are synchronized.
• When running a simulation from an instance of Path Editor, that instance becomes the primary
instance. The controls of all the other instances are deactivated. After resetting the primary instance,
all the instances are enabled and once again there is no primary instance.
• After pausing the simulation of the primary instance, you can move robots in other instances to
specified locations.
• While running a simulation in the only instance of Path Editor (the primary instance), you cannot
close this instance.
• The column sets you configure are available for all the instances. If you enabled specific columns for
a specific instance, such as instance (3), then this instance retains those columns. Additionally, if you
have configured customized column sets, these can be accessed from any Path Editor instance.

Edit multiple locations in the Path Editor

After selecting multiple locations in the Path Editor, you can edit a parameter value for a single location to
change that value for all the selected locations.

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 • Multiple editing applies to parameters that are set in combo boxes or checkboxes, numerical
parameters, text strings, and items picked in other viewers. If a combo box contains a More option
that activates a custom dialog box, the setting you choose is applied to the relevant locations. Other
locations are omitted.
• After selecting multiple locations, your settings are applied only to the relevant locations - other
locations are skipped silently. For example, if you type a Comment in the example below, it is recorded
for locations but omitted for operations. Similarly, Zone Data is applied to via locations but not to weld
locations.

• If you select multiple locations in multiple operations assigned to different robots, your parameter
changes are applied to those locations assigned to robots with the same controller. All other locations
are skipped.

Modify customized motion for multiple items

To modify the Customized Motion parameter for multiple items, proceed as follows:

Procedure

1. Select the locations or operations whose properties you wish to edit.

Note
All the selected locations must be assigned to robots using the same controller.

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 2. Click .
The Set Locations Properties dialog box appears.

Locations displays all the selected locations.

To filter this list, click one of the following:

• — Filter by location type. Select from All, Via, Generic, Weld, Seam, First Seam, Last
Seam, and Seam Via locations.

• — Filter by motion type. Select from All, Joint, Linear, and Circular motion.

• — Filter by process type. This list is filled dynamically according to the process types
available on custom controllers.

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 Common properties displays the properties (together with their values) that are common to all the
locations currently listed in Locations.
Edit the properties you want to apply to all the locations.

Note
• The value of each common property is the same for all the selected locations. If you change a
value (either by editing a cell or using external dialog box that opens), the new value applies to
all the selected locations.
• If you change the Locations list using the filters, the Common properties change accordingly.
• You cannot edit properties that are unavailable. These are either read-only or may be edited only
for some of the selected locations (but not all of them).
• If other properties depend on the edited property, their values are removed. For example, if you
edit Time, the value for Speed is removed.

3. To copy properties from an existing source location rather than edit them manually, click to
expand the Set Locations Properties dialog box.

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 The right pane of the Set Locations Properties dialog box appears.
4. Click in the Obtain Properties from Location field and pick a source location.
Source location properties lists the properties of the selected location.

Note
You cannot edit properties in the right pane.

5. From Source location properties, select the properties you want to copy to the locations listed in
Locations and click .

Note
All changes are applied in real time.

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Simulating Path Segments

If you are editing weld locations and you have configured local robotic parameters, these are
displayed in italic font if they differ from the corresponding mapped weld point attribute value. Click
in the Set Locations Properties toolbar to relink all weld location robotic parameters to their
corresponding weld point attributes.
After you relink the parameters, they are no longer displayed in italics, indicating they are now the
same as their mapped Mfg attribute value. Alternatively, you can click the icon in the Re-link
column to relink individual parameters for the selected locations.

6. To discard the changes you made, click Reset.

Simulating Path Segments

You may wish to concentrate on a specific segment of an operation, for example to optimize or debug it. In
this case, it is time-consuming and superfluous to simulate the operation from the start each time. You can
define the locations of interest as an operation segment.

When Process Simulate simulates a segment, the simulation runs from the first of the selected locations
and finishes at the last selected location.

Note
• Changing the first or last segment locations or deleting them makes the segment inactive.
• After using the Add or Remove Path Editor commands makes the segment inactive.
• A segment must contain at least one location.
• The locations in a segment must be continuous.

1. In the Path Editor tree, select the locations you wish to simulate.

2. Click .
The selected locations remain unchanged and all the other locations are shaded gray.

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 Customizing the Path Editor

3. Run the simulation.

Customizing the Path Editor

You can select the type of information that is displayed in the columns of the Path Editor table.

1. Click .
The Customize Columns dialog box is displayed.

2. To select the columns to display in the Show columns in following order list on the right-hand side,
do any of the following:

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Customizing the Path Editor

• From the Available columns list, select a column and click .

• Click to select all the available columns.

• Select a column in the Show columns in following order and click to remove it.

• Click to remove all the columns.

3. Use the and buttons to order the Show columns in following order list as you wish to
display it in the paths table.
4. If you wish to edit the title of a column in the Available columns list, select the column and press the
<F2> key. The column title becomes an editable field. Edit the title and press <Enter>.
5. To load an existing column set in the paths table:

a. Click .
The Load Column Set dialog box appears.

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 Customizing the Path Editor

b. In the Select column set to load list, select the column set you wish to load.
c. Check Replace existing to remove the currently-displayed columns in the paths table and load
only the new ones. Or check Add to existing to keep the currently-displayed columns in the
paths table and add the new ones.
d. Optionally, select a column in the Select column set to load list and click Rename to edit its
name or Delete to delete the column set.
e. Click OK. Process Simulate loads the column set and displays it in the paths table.

Note
The system automatically creates customized column sets for all supported controllers (except for
the Default controller). They are named AUTO_<controller name>. When loading column sets, the
customized sets for the currently-installed robot controllers are available for loading.

6. Click to save the current Show columns in following order list as a column set that you will
be able to reload later.
The Save Column Set dialog box appears.

Type a name for the new column set and click OK.

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Relation between Mfg attributes and robotic parameters of weld locations/seam operations

Note
After loading one robotic operation in the Path Editor, the column set you configured for the robot
controller assigned to the loaded operation is displayed. If you load further operations, there is no
change in the displayed columns.

7. Click OK to close the Customize columns dialog box.

The selected columns appear in the columns of the Path Editor table.

Relation between Mfg attributes and robotic parameters of weld locations/seam

operations

A robotic parameter may take its value from an Mfg attribute after the weld point was projected. If users
then change the corresponding value on the robotic parameter, it no longer corresponds to the value of
the Mfg attribute and the modified value on the weld location or seam operation is indicated by italic font
in the Path Editor.

Until overwritten, the value of the robotic parameter remains the same as its related Mfg (and updates
automatically when the Mfg value is changed).

See also Project Weld Points and Project Weld Points.

Also refer to the Robotic Parameters To Mfg Attributes Mapping section in the Process Simulate on
Teamcenter Administration documentation.

Jump assigned robot

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 You can cause the robot assigned to a flow operation to jump to any location in the operation in order to
investigate the situation at the selected location. The assigned robot is the robot assigned to the parent
operation of the selected location. Refer to Display Robot Properties for instructions how to verify which
robot is assigned to the operation.

Procedure

1. Load a flow operation in the Path Editor.

2. Right-click the location to which you wish to jump the robot and select Jump Assigned Robot.

The robot jumps to the target location.

Jump assigned object

You can cause the object of Object Flow operations to jump to the selected location.

Procedure

1. Right-click to select the object you want to jump to the selected location.

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Add columns to the Path Editor

2. From the menu that displays, select Jump Assigned Object.

The object jumps to the end point location of the Object Flow operation.

Add columns to the Path Editor

If it is necessary to add customized columns to the Path Editor when simulating a specific robot type, close
down Process Simulate and proceed as follows:

Procedure

1. Access C:\ProgramData\Tecnomatix\Process
Simulate\<version>\Robotics\PathEditor\AvailableColumns and open the desired
robot configuration file in an editor.

Note
If necessary, reveal hidden files in Windows.

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 2. Add the desired columns as shown in the following example.

<Root>
// ––––––––––––––––––––––––––––––––––––––––––––––––––––--
// ––––––––––––––––––––––– Kuka-Krc –––––––––––––––––––--
// ––––––––––––––––––––––––––––––––––––––––––––––––––––--
<Section SectionName="Kuka-Krc">
// Kuka-Krc Motion Parameters
<column Id="Shape" Header="Shape" ValueType="string"
Access="RW">
<Display DisplayType="string"/>
<Column Header="Acc" ValueType="complx" Access="RW">
<Display DisplayType="double"/>
<?Column>

Note
• If necessary, remove the file's read-only attribute.
• See also Relation Between Mfg Attributes and Robotic Parameters.

3. Save the robot configuration file and launch Process Simulate.

4. Select the relevant robot, and click in the Path Editor.

The new column(s) is available for use.

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Edit OLP commands in the Path Editor

Edit OLP commands in the Path Editor

It is possible to edit the data even while a simulation is paused or running without needing to reset it.
For example, you can move locations during simulation using the Placement Manipulator or edit OLP
commands.

Note
You cannot load a program/operation into the Path Editor while a simulation is running.

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 Procedure

1. Click the OLP Commands cell for the location you wish to edit.

2. Edit the commands, or add or delete OLP commands (as described in Teach Pendant) for the
specified location.
3. Click Close to save the changes.
4. Resume the simulation if it was not running.The next time the program cycles to the updated
command, it is executed according to the update.

Object Viewer
The Object Viewer can display all types of objects in the study.

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Object Viewer

Note
If you want to enable the Object Tree, Operation Tree, and Logical Collections Tree Viewer legacy
viewers, you can do so using Tecnomatix Doctor - Tools.

It is possible to open the Object Viewer to display operations only, logical collections only, robots only, or
all the objects in the study (including Mfgs), via the Viewers group of the Home ribbon.

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 View selected objects

You can also select any set of objects in the study to display just the selected objects in the Object Viewer.

View selected objects

You can view selected objects in the Object Viewer.

Procedure

1. Select objects in the system viewers.

2. Choose Home tab → Viewers group → Object Viewer and click Selected Objects.

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View objects operations or logical collections

3. You can drag additional objects from supported viewers into the Object Viewer.

View objects operations or logical collections

You can view objects, operations, or logical collections in the Object Viewer.

Procedure

Choose Home tab → Viewers group → Object Viewer and click All Objects or Operations or Logical
Collections.

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 Object Viewer Tools

Object Viewer Tools

The Object Viewer provides the following tools.

• Synchronize selection—When set, the Object Viewer is synchronized with the other system
viewers. Selecting one or more objects in the Object Viewer selects them in the other viewers and vice
versa.

• Auto navigate to object—This function can only be used when Synchronize selection is enabled.
When set, selecting one or more objects in one of the system viewers causes the Object Viewer to
display those objects and select them, even if the objects are nested in the hierarchy and not currently
displayed.

• Preserve sub-hierarchy display state—If you activate this option before selecting which child
objects to blank or display, your selection is retained next time you display the parent object (for
example, a robot and its components, but not its frames). This is particularly useful in very large arrays
of data, saving you much effort.

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Object Viewer Tools

• Customize Columns—This feature enables you to customize the information about objects
displayed in the Object Viewer. If you activated the Selected Object option, this icon is not displayed.

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 Object Viewer Tools

• Categories Filter—This feature enables you filter the items displayed in the Object Viewer. Click
the icon arrow to set the filter as desired.

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Object Viewer Tools

Click the icon to activate the filter and click it again to cancel the filter.

Note
Filtering the Object Viewer does not affect the Graphic Viewer.

• You can rename objects and provide them with captions.

• You can blank and display objects by clicking the box to the left of the object, or by right-clicking the
object and selecting to blank or display it.
• To remove an object from the Object Viewer, drag it and drop it anywhere outside the viewer.
• Deleting or adding an object in any of the system viewers removes that object from or adds it to the
Object Viewer.

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 Comparisons and subsets

• You can modify the hierarchy of objects in the Object Viewer, for example, by dragging an object and
nesting it under a different parent item, by copying it, or by cutting and pasting items. You can also drag
items to another instance of the Object Viewer.

• You can double-click an object and edit its name.

• After double-clicking an object , you can click the arrow on the right of the object

to perform cut, copy, and paste actions.

Comparisons and subsets

You can open multiple instances of the Object Viewer to make side-by-side comparisons of various
structures without having to scroll up and down inside a single window and you can create subsets
containing objects of interest.

• You can compare the structure of similar objects.

• You can drag and drop objects into another instance of Object Viewer to create a subset of objects of
interest and use the subset for quick navigation to those objects.

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Robot Library

Robot Library
You can download robots from the Robot Library and insert them in the current study. The Robot Library
contains a large selection of robots and Siemens continually updates the library.

Procedure

1. Choose Home tab → Viewers group → Robot Library .

2. When prompted, enter your login credentials.
The Robot Library Web page opens in Process Simulate.

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 Robot Library

3. Select the robot you wish to download or click Filters to help you find the desired robot.

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Robot Library

4. Configure the filter parameters as required to locate the desired robot.

The Robot Library is refreshed and now displays only the robots that conform to the filter
parameters.
5. Hover over the desired robot.

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 Robot Library

6. You can click to view information about the selected robot.

7. Click Download Robot Model.
When the download is complete, the robot COJT file is stored in your user profile and the following
message is displayed.

8. Click OK.
9. Import the robot into your study as follows:
a. Access the New Object command.

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Robot Library

b. Click OK to create a robot resource.

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 Robot Library

c. Run Set/Replace JT and navigate to the robot COJT file you downloaded.

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Robot Library

d. Click Set to insert the robot in the Object Viewer and Graphic Viewer.

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 Paste

Paste
The Paste option enables you to place an object (entity, component and group of components) that has
been cut or copied to the clipboard in a new location. Click a point in the Graphic Viewer or select an
element in the Object Viewer, then select Paste. Refer to Cut and Copy.

Note
As an alternative to using the Cut and Paste commands, you can drag and drop objects in the Objects
Viewer.

The following limitations apply to the Cut and Paste, Copy and Paste and Drag and Drop functionality:

• You cannot place entities under groups, except for frames.

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Cut

• You cannot place a component under an entity.

• You cannot place a group under an entity.
• You cannot place a component under another component.

If you try to place an object under another object that does not support it, the cursor appears as follows: .

Cut
The Cut option enables you to cut a selected object (entity, component and group of components ) from
its current location in the Graphic Viewer and Object Viewer and place it on the clipboard. When an
object is cut, it remains visible in the Graphic Viewer until pasted in a new location. Refer to Paste for more
details.

Note
As an alternative to using the Cut and Paste commands, you can drag and drop objects in the Object
Viewer.

The following limitations apply to the Cut and Paste, Copy and Paste and Drag and Drop functionality:

• You cannot place entities under groups, except for frames.

• You cannot place a component under an entity.
• You cannot place a group under an entity.
• You cannot place a component under another component.

If you try to place an object under another object that does not support it, the cursor appears as follows: .

Copy
The Copy option enables you to make a copy of a selected object (entity, component andgroup of
components ) and place the copy on the clipboard. You can then paste the object in a new location. Refer
to Paste for more details.

The following limitations apply to the Cut and Paste, Copy and Paste and Drag and Drop functionality:

• You cannot place entities under groups, except for frames.

• You cannot place a component under an entity.
• You cannot place a group under an entity.
• You cannot place a component under another component.

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 Deleting objects

If you try to place an object under another object that does not support it, the cursor appears as follows: .

Deleting objects
The Delete option enables you to delete objects in the Graphic Viewer and the Object Viewer, and
operations and events in the Sequence Editor. You can delete an object, operation or event (including any
attached notes and dimensions) by selecting the required item and choosing Home tab → Edit group →

Delete . You can also delete multiple items by holding down <Ctrl> on your keyboard, selecting the
items that you want to delete, and then selecting Delete. Consecutive multiple items can be in the deleted
by holding down <Shift> on your keyboard and clicking the first and last items in the Object Viewer. The
selected item(s) is removed from the Graphic Viewer and the Object Viewer.

Note
You can restore a deleted object by selecting Undo. This option is only available immediately after the
Delete command was issued.

Renaming objects

Rename Objects tool

Rename Objects is a powerful tool for renaming objects in Process Simulate. It can make batch name
changes for a large number of objects, saving effort and increasing productivity. For example, if you have
copied an operation, you can rename all the duplicate locations with meaningful names in a single action.

1. Choose Home tab → Edit group → Rename Objects .

The Rename Objects Tool dialog box is displayed.

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Rename Objects tool

Note
• If you preselected objects in any of the viewers, they are displayed in the Scope list.
• After you configure rules in the lower pane, the Preview column shows the new object names.
Currently, it shows the original names.

2. Set the Apply to control to one of the following:

• Selected Objects - The changes are applied to the objects selected (checked) in the Scope list.
• Children - The changes are applied to all the objects nested directly under the objects selected
(checked) in the Scope list. The names of the selected objects remain unchanged.

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 Rename Objects tool

Note
If you set Apply to to Children, you cannot add or remove objects in the Scope list.

3. Select target objects to rename in any of the viewers and click Add in the middle toolbar to add them
to the Scope list.
4. Use the Scope arrow buttons to reorder the objects in the Scope list. The order impacts the new
names if, for example, you use an enumerator.
5. If you have loaded many objects in the Scope list, you can click Filter and select object types to
display/hide and focus on the object types that interest you.

6. Check the objects you wish to update in the Scope list and clear those you wish to remain
unchanged.
7. If necessary, click Remove to remove the selected objects from the Scope list or click the arrow in the
Remove button and select Remove All to remove all the objects.
8. To configure a renaming rule, click Add Rule in the Rules area and select one of the following:

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Rename Objects tool

• Append or Trim

a. Select Prefix or Suffix to determine whether to make changes at the start of the object name
or its end.
b. In the Append or Trim dialog box, you can configure either the Append or Trim option.
The Append option is selected by default - type the desired text.

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 Rename Objects tool

In this example, Process Simulate prefixes the text string 123ST_1 to each of the selected
object names.
After clicking OK, the new rule is displayed in the Rules list in the lower part of the Rename
Objects Tool dialog box, together with a preview of the new object names in the Scope list.

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Rename Objects tool

c. If you wish to trim characters from the object names, perform either of the following
trimming actions in the Trim area of the Append or Trim dialog box.
◦ Select Characters, enter the number of characters to remove, and click OK.

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 Rename Objects tool

In this example, Process Simulate removes the last character from each of the selected
object names.
After clicking OK, the new rule is displayed in the Rules list in the lower part of the
Rename Objects Tool dialog box, together with a preview of the new object names in the
Scope list.

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Rename Objects tool

◦ Select Consecutive digits and click OK.

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 Rename Objects tool

In this example, Process Simulate removes all the consecutive digits at the start of the
selected object names.
After clicking OK, the new rule is displayed in the Rules list, together with a preview of the
new object names in the Scope list.

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Rename Objects tool

• Replace

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 Rename Objects tool

a. In the Replace what area, select one of the following:

◦ Entire name to completely remove the original file name and replace it with the new one
(to be entered in the Replace with area).
◦ Text and type a text string for which to search. You can select from these options:
◊ Match entire name to have the text match the entire name.
◊ Use wildcards — to use * and ? you have to type \* and \?.
This string is replaced by the new text (to be entered in the Replace with area). You can
also set Match case when searching for text strings, if this is important.
b. In the Replace with area, type text in the Text field.
This is the new name and replaces either the original object name or part of it (as configured
in the Search for area).

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Rename Objects tool

In this example, Process Simulate replaces the text string ST_1 with via.
After clicking OK, the new rule is displayed in the Rules list, together with a preview of the
new object names in the Scope list.

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 Rename Objects tool

In both Append or Trim and Replace modes, you can use enumerators (one or more appended digits
that are incremented for each renamed object). For example, to append a serial number, proceed as
follows:
a. Optionally, type text to append.

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Rename Objects tool

b. Set the Enumerator and its Step size.

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 Rename Objects tool

c. Click Add.
The enumerator is displayed after the appended text.

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Rename Objects tool

9. Click OK to finalize the rule.

The new rule is displayed in the Rules list, together with a preview of the enumerated object names
in the Scope list.

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 Rename Objects tool

Note
• You can also type the enumerator as freehand text by adding square brackets and digits.
• You can add multiple enumerators, for example [010,2,0][1,5,1].
• You can limit the enumerator value by setting the maximum string length to be the number of
digits included in the enumerator. To do this, add a third digit to the enumerator, 1 for unlimited
and 0 for limited. For example [10,2,0] to limit the enumerator to a maximum value of 99. When
the enumerator counter reaches the defined limit, it resets to 0 and repeats the enumeration. For
enumerators with limited length, you can also add leading zeros to the enumerator definition to
fix the length.

10. Configure additional rules and use the arrow buttons to reorder them as required.

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Rename Objects tool

Note
Take care to order your rules meaningfully as the rule order impacts the new names. For example,
if the first rule adds a suffix and the second rule trims suffix characters, the result is to trim the new
suffix.

11. If necessary, click Remove to remove the selected rules from the Rules list or click the arrow in the
Remove button and select Remove All to remove all the rules.
12. If necessary, select a rule in the Rules list and click Edit to makes changes.
13. When you have configured all the rules and are satisfied with the results of the preview, click Apply.
14. Click Close to exit the Rename Objects Tool dialog box.
15. From the Apply to pulldown, you can switch between Direct descendants and All descendants (entire
hierarchy) of some objects.

• Selected Objects - the changes are applied to the objects selected (checked) in the Scope list.

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 Rule sets

• Direct descendants - the changes are applied to all the objects nested directly under the objects
selected (checked) in the Scope list. The names of the selected objects remain unchanged.
• All descendants - the changes are applied to all the objects under the objects selected (checked)
in the Scope list. The names of the selected objects remain unchanged.

Rule sets

Save a rule set

After you have configured useful rules in the Rename Objects Tool dialog box, you can save them as a rule
set, access them quickly, and export them to other users.

Procedure

1. In the Rename Objects Tool dialog box, click .

The Save a set of rules dialog box is displayed.

2. Enter a meaningful Name, add a Description (if you wish), and click OK.
The new rule set is displayed in the dropdown list in the lower toolbar.

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Load a rule set

Note
When saving subsequent rule sets, click the arrow next to the Save icon and select Save As.

Load a rule set

• Select the rule set in the dropdown list in the lower toolbar.

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 Add or remove a rule in a rule set

The selected rule set is loaded in the Rename Objects Tool dialog box.

Add or remove a rule in a rule set

Procedure

1. Load the rule set.

2. If you wish to add a new rule, proceed as follows:
a. Close the Rules Manager.
b. Add a new rule using Rename Tool.
c. Click Save to update the current rule set.
3. If you wish to remove a rule, select the rule and click Remove.
4. Click Save to update the current rule set or click Save As to save the rules as a new rule set.

Edit a rule set

Procedure

1. Click Edit Rule Set .

The Rules Manager is displayed.

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Export or import a rule set

2. Perform any of the following editing actions:

• Select a rule set in the Sets list and click Delete to delete it from the rule set.

Note
Selecting a rule in the Rules list on the right and clicking Delete also causes the parent rule set
to be deleted.

• Double-click a rule Name or Description and modify the text.

Export or import a rule set

Procedure

1. Click Edit Rule Set .

The Rules Manager is displayed.

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 Switch to Standard Mode/Line Simulation Mode

2. Proceed as follows:
• To export a rule set:
a. Select a rule set in the Sets list or a rule in the Rules list and click Export.
The Save As dialog box is displayed.
b. Enter a File name and select a location in which to save the exported data as an XML file.
• To import a rule set:
a. Click Import.
The Open dialog box is displayed.
b. Navigate to an exported XML rule set file and click Open.
The rule set is loaded in the Rename Objects Tool dialog box.

Note
If you import a rule set that you had previously imported, the system updates your current rule
set (and does not create a new one).

Switch to Standard Mode/Line Simulation Mode

These commands enable you to switch quickly between Standard and Line Simulation modes without
having to reload the data.

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Simulation recorder and playback

• For data currently loaded in Line Simulation mode, you can choose Home tab → Mode group →
Switch to Standard Mode Mode to change to Standard mode. Process Simulate prompts you to
update Teamcenter. Selecting No causes Process Simulate to reload the data entirely in Standard mode,
without saving it. After switching modes, Standard Mode is displayed in the Status bar.
• If you opened Process Simulate in Standard mode, you can choose Home tab → Mode group → Switch
to Line Simulation Mode to change to Line Simulation. Process Simulate prompts you to update
the data. Selecting No causes Process Simulate to reload the data entirely in Line Simulation mode,
without saving any data. After switching modes, Line Simulation Mode is displayed in the Status bar.
• On the Home tab, the currently selected mode is indicated by its enabled icon:

◦ - Line Simulation Mode

◦ - Standard Mode

Changing the mode for currently loaded data does not cause the system to perform a complete load of the
data – it is not necessary for Teamcenter to export the entire data and process it again in Process Simulate.
Instead, Process Simulate loads and unloads only those sections which are different. Therefore, you can
quickly switch between modes to perform various analyses on the data.

Simulation recorder and playback

You can use the Simulation Recorder and Playback command to record simulations. The recorder collects
the following information in an XML file:

• Joint motion
• Object locations
• Human motion
• Cable behavior
• Signal states
• Appearance creation and destruction

When playing back a recording, the system retrieves all the required information from the XML file - it does
not perform simulation, nor does it access external hardware connections or relevant installed software
modules. Therefore:

• When playing the recording on the system upon which it was recorded, you may be able to run the
recording faster than the simulation ran.
• You can play the recording backwards. This is especially useful for debugging a recording in Line
Simulation mode as this is the only way to do this.

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 Simulation recorder and playback

• When you share the XML file, together with the study PSZ file, with collaborators, the recording plays
on any Process Simulate platform. The external connections (PLC, RRS, 3rd party applications, etc.) used
when the recording was made are not required.

1. Choose Home tab → Study group → Simulation Recorder .

2. Configure a File name and location for your recording. If it already exists, it is overwritten (without
warning). The default location for the file is the %temp% location on the local machine.

3. Click Record and run the simulation.

Or

Run the simulation until the point at which you wish to begin recording and click Record . For
greater accuracy, pause the simulation at the desired time, click Record, and resume simulation.

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Simulation recorder and playback

4. Let the simulation run while the recorder captures the relevant section and then stop it.

5. Click End to terminate recording. While recording you can change the viewpoint, slow down
or speed up the simulation, and pause and continue playing. Do not play or step the simulation
backwards.
6. Reset the simulation to enable playback.

Note
When playing back a simulation recording, you cannot run other simulations. Similarly, when
simulating operations, recorder playback not possible.

You can now play back the recording or send the XML recording file and the study PSZ file to collaborators.

Play back the recording

Playback is available on the system it was recorded on, or on a remote station using the XML recording file
and the study PSZ file

• Any person running Process Simulate can play back the recording of the simulation - any Process
Simulate platform is sufficient.
• You do not require the same hardware setup used when recording the simulation, for example, PLC
devices.

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 Simulation recorder and playback

• You do not require the same software installed on the system when recording the simulation, for
example, RRS/RCS modules.
• Because the Simulation Recorder and Playback command notes all the study motion and signals in an
XML file during recording, the playback updates the Graphic Viewer, Simulation Panel, appearances,
etc. as when a simulation is run. Some viewers are not updated, for example Simulation Monitor.
• The study must contain all the components, resources and signals with which the study was recorded.
• A simulation recorded in Standard Mode must be replayed in Standard Mode. The same applies to Line
Simulation Mode.

The Simulation Recorder and Playback command appears as follows in playback mode:

1. Click Play to begin playback.

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Simulation recorder and playback

The elapsed time is displayed to the right of the control buttons. Clicking before beginning
playback, causes the graphic display to display the scene as it was when recording began.
2. Adjust the playback Speed as suitable.

Note
• The Simulation Recorder and Playback command does not run simulations and does not
calculate any parameters. Because it plays recordings, you can play the recording at high (or low)
speed.
• To improve productivity, you can record a long or slow simulation overnight, or when working on
other tasks, and then play it back at high speed.

3. Use the other control buttons to pause playback, step the recording forwards, jump to the end, play
backwards, step backwards, or reset the player.

Note
Stepping or playing the recording backwards is very useful for Line Simulation mode to reach a
point of interest, to save you resetting the simulation and playing it from the start till the point of
interest.

4. Optionally, you can drag the slider to desired time in your recording.

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 Set Current Operation

Also,
• When your mouse pointer is in the Simulation Recorder and Playback window, you can use the
mouse wheel to move the slider to the desired time.
• When not playing the recording, you can click any point on the slider to jump the recording to that
point in time.
• The time field to the right of the play controls displays the time as shown in the Graphic Viewer. If
you enter a time in this box or jump the recording to a certain time on the slider, the time shown is
only updated when the recording reaches that point.
5. Optionally, use all the tools in Process Simulate to manipulate the view and/or examine the state of
the system viewers, for example, the Collision Viewer or Measurement tools.

Limitations

The following are currently not supported by the Simulation Recorder and Playback command:

• Logical collections
• Attachments defined before recording starts

Set Current Operation

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 The Set Current Operation option designates a selected operation as the current operation. In order to
simulate an operation, it must be set as the current operation.

Note
All operations are displayed in the Object Viewer.

• Select the required operation in the Object Viewer and choose Operation tab → Create Operation
group → Set Current Operation .or
• Choose Home tab → Operation group → Set Current Operation .

Note
Loading a study in Line Simulation mode automatically sets the Line Operation as the current operation
(the operation created below the operation root in the Object Viewer). As a result the Sequence Editor is
automatically loaded.

Add New Operation

For convenience, it is possible to add a selection of new operations without leaving the Home tab. For a
complete list of available operations, refer to Add Operation.

Operation Properties
Refer to Operation Properties.

Add Operations to Path Editor

Add Operations to Path Editor adds the operations currently-selected in the Object Viewer to the
Path Editor.

Right-click the required operation and choose Operation tab → Create Operation group → Add

Operations to Path Editor .

or

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 Attach and detach components

Choose Home tab → Operation group → Add Operations to Path Editor .

Attach and detach components

The Attach command enables you to attach one or more components to another component.

Note
You can check if a component is attached to another object by selecting the component, opening the
Object Viewer, and displaying the Attached To column.

Procedure

1. Select one or more components, either in the Graphic Viewer or the Object Viewer, and choose Home

tab → Tools group → Attachment and select Attach from the dropdown list. The Attach dialog
box is displayed with the name(s) of the selected component(s) in the Attach Objects field:

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 Note
Alternatively, you can choose Attach to display the Attach dialog box and select the component(s)
in the Graphic Viewer or the Object Viewer that you wish to attach to another component. (The
cursor changes to when selecting objects in the Graphic Viewer.) The name(s) of the selected
component(s) are displayed in the Attach Objects field.

2. Specify the type of attachment, as follows:

• One Way: The attached components can be moved independently of the component to which
they are attached. If you move the component to which the components are attached, all the
components move together.
• Two Way: If you move the attached components or the component to which the components are
attached, all the components move together.
3. Click in the To Object field and select the component, either in the Graphic Viewer or the Object
Viewer, to which you want the selected component(s) attached. (The cursor changes to when
selecting objects in the Graphic Viewer.) The name of the selected component is displayed in the To
Object field.

Note
If you select an entity, the entity's collection is automatically displayed. However, if you select a
frame or a link, the collection is not automatically displayed. If the entity's collection is a block, the
lowest ancestor, a link or a component, is displayed.

4. By default, Local is selected in the Store attachment area. This means the attachment is stored in
the engineering data of the study or process as opposed to being saved as a relation in the database.
If, for example, you attach a robot to a rail locally, then when you use the same robot and rail in
another study, this attachment is not valid for the other study or process. A local attachment appears
as follows:

5. Select Global if you wish to save the attachment globally. This means the attachment is saved as a
relation in the database as opposed to being stored in the study’s engineering data. If, for example,
you attach a robot to a rail globally, then when you use the same robot and rail in another study or
process. The icon indicates a global attachment.

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 Note
It is only possible to make global attachments between resources. If, for example, you select parts
when Global is selected, the system returns an error.

6. After attaching a resource (for example, k 160) globally to another resource (for example, lnk1), it is
possible to attach the same resource, k 160, to an additional resource (for example, lnk2) locally. In
this case, the local attachment is active. This enables you to test various scenarios without breaking
the global attachment.

Thus, moving lnk 2 also causes k 160 to move, whereas moving lnk 1 does not move k 160. If
you detach k 160, the local attachment is removed (because it is currently active) and the global
attachment becomes active. Now moving lnk 1 causes k 160 to move, whereas moving lnk 2 does not
move k 160.
7. Click OK.

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 The selected components are attached and can be moved in the Graphic Viewer according to the type
of attachment specified. If the Attachments column is currently displayed in the Object Viewer, the
name of the attached component is displayed next to the component to which it is attached.

Note
If you delete a component, any objects attached to it are NOT deleted. The components remain
attached until you detach them.

Detach

The Detach option breaks the connection between attached components. Select an attached component,

choose Home tab → Tools group → Attachment, and select Detach from the dropdown list. The
attached component is no longer attached and can be moved independently.

Note
• If the Detach option is disabled, the component is not attached to another object and you can attach
it if required.
• Detaching a local over global attachment restores the global attachment. Therefore, to completely
break a local over global attachment, it is necessary to run the Detach command twice.

Collision Mode On/Off

Activating Collision mode enables you to see in the Graphic Viewer if a collision occurs during an
operation or movement of objects. The objects involved in a collision are colored red.

1. Choose Home tab → Tools group → Collision .

Collision mode is activated, which is indicated by an enabled Collision Mode button.

2. Select Switch Collision Mode again to deactivate Collision mode.

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 Joint Jog

Joint Jog
Refer to Joint Jog.

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Robot Jog

Robot Jog
Refer to Robot Jog.

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 Simulation Panel

6. View
Simulation Panel
The Simulation Panel is the main debugging tool for Event Based Simulation (Line Simulation mode). It
enables you to add any number of signals and view and change their values, before and during simulation,
in order to interact with the simulation - this is known as Watch and Force. The Simulation Panel
interfaces with and influences the behavior of the operations and signals while the simulation program is
running. Many of the columns provide read-only information for tracking your simulation.

You can open up to 15 instances of Simulation Panel, facilitating the tracking of various groups of signals
at the same time. Additionally, you can save the signal list as a .SPSS file for using later.

To access the Simulation Panel:

• Choose View tab → Screen Layout group → Simulation Panel.

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Simulation Panel

Note
• The Simulation Panel is only active when the Line Simulation mode is the current mode of operation
(the CEE simulation is running.)
• You can open multiple instances of the Simulation Panel and load different signals in each instance,
enabling you to view various signals without having to scroll the signal list.

The Simulation Panel contains the following columns:

Column Description
Simulation Displays a hierarchy of the signals included in the simulation.
Inputs For input signals this column displays the signal value. The value is updated during
simulation.
Outputs For output signals this column displays the signal value. The value is updated
during simulation.
LB Displays logic block child signals.
Forced If unchecked, the signal operates normally. If checked, the signal always sends the
value specified in the Forced Value column.
Forced Value The value sent by the signal if the box in the Forced column is checked.

For binary values, a green square indicates a signal that is always on, while a red
square indicates a signal that is always off.

If a signal can carry a numeric value, double-click the field in this column to set the
forced value for the signal.

Note
Removing a signal from this viewer does not remove its forced value. You are
prompted to confirm if you try to remove a signal with a forced value from the
viewer.

Note
SPSS files also save the forced value and status of the signal.

Address The address of the signal in IEC (International Electrotechnical Commission) format
as specified in the Signal Viewer IEC Format column.
Robot Signal The internal name of the signal as specified in the Robot Signals dialog box.
Name
Comment Displays the Signal Comment as defined in the Signal Viewer.

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 Simulation Panel

The Simulation Panel contains the following toolbar:

The following table describes the functions you can perform using the tools in the toolbar:

Icon Name Description

Add Signal Adds the signals you selected in the Signal Viewer under the selected
node to the Simulation Panel.
Add LB Elements Opens the Add LB Elements dialog box, enabling you to add logic
behavior elements (for example, exits and parameters) under the
selected node in the Simulation Panel.

You can click the Filter by resource field and pick a resource to filter
the Available elements list. The list displays only the signals and logic
behaviors related to the selected resource type.

Select elements in any of the following ways:

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Simulation Panel

Icon Name Description

• From the Available elements list, select elements and click to

add them to the Elements to add list.

• Click to add all the available elements to the Elements to add

list.

• From the Elements to add list, select elements and click to

remove them.

• Click to remove all the elements from Elements to add list.

Click OK to complete the selection and close the Add LB Elements

dialog box.
Remove Signal Removes selected Signals, LB elements or groups from the Simulation
Panel. Removing a group removes the group node and all the elements
nested under the node. You can also remove an item by pressing the
Delete key.
Group Groups selected Signals, LB elements or other groups in the Simulation
Panel and nests them under a new Group container node. A new Group
is automatically assigned a name, composed of the word “group” and
an index. The group name is set to edit mode, allowing you to type a
different name. The value columns for the group node are grayed out.
Ungroup Ungroups the selected group in the Simulation Panel, removes the Group
node, and adds the group's direct descendants to the group's parent
node (another group or the Simulation Panel root). Ungroup does not
change the order or hierarchy of the group's descendant nodes.
Filter Forced Filters the simulation panel signals and shows only the forced signals.
Signals

Load .spss file Opens the Load Simulation Panel Signal Setting dialog box and
enables you to load a new Simulation Panel Signal Setting (.SPSS) file
into the Simulation Panel.

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 Simulation Panel

Icon Name Description

From the Existing signal settings list, select the file you wish to load.

In the Loading Mode area, select either Add to existing signals to

append the new signal information to the current information in the
Simulation Panel or Replace existing signals if you wish to replace the
current signal information. Click OK to complete the loading process.

If the signals and logic blocks referenced by the SPSS file are present in
the study, they are also loaded in the Simulation Panel. If the system
can identify signals by their ID number, they are loaded together with
their original signal type. If, however, the system can only identify the
signals by their name, they are only loaded with the signal type currently
assigned to them in the open study. Similarly, if all the logic block
components are present in the current study, they are loaded in the
Simulation Panel.
Store .spss file Opens the Store Sim Panel Signals Setting dialog box and enables you
to save the current contents of the Simulation Panel as an .SPSS file for
future use.

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Simulation Panel

Icon Name Description

Type a name for the new .SPSS file and click OK. The location for
the .SPSS file is set in the Settings dialog box.
Settings Opens the Settings dialog box, enabling you to define the location in
which to save .SPSS files.

After selecting a location, click OK to close the Settings dialog box.

Note
• If a compound instance has logic behavior of its own, that logic is displayed in the available signals
list, together with its sub-components and their corresponding logic.

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 ArtiMinds

• After resetting a simulation, key signals and input signals tracked in the Simulation Panel are reset to
their original (preset) values. Key signals not tracked in the Simulation Panel are set to a zero (false)
value.
• When removing signals from the Simulation Panel, these are automatically set to Unforced (while
their Forced Value is retained). This prevents unexpected effects on the simulation caused by
signals not tracked in the Simulation Panel, which would be difficult to debug.
• Forced values of all signals are used when making evaluations. But output values are automatically
updated (during simulation) from their forced values only for robot signals.

In this example, the robot signal kr22_rob1_programStart is forced to true and its Output value
automatically updated to true. However, the Output value of the Resource Output Signal, that is also
forced to true, is not updated.
• After releasing a robot signal forced value, the signal's current value is retained.

This video demonstrates creating signals.

Note
Videos are not included in PDF. To access videos, use HTML.

ArtiMinds

Using the ArtiMinds Robot Programming Suite (RPS)

You can use the ArtiMinds Robot Programming Suite (RPS), which has been integrated into Process
Simulate, for creating operations quickly and easily. After simulating and fine-tuning the program you can
download it using the ArtiMinds RPS Viewer.

Note
You can create a program comprising both Process Simulate and RPS operations.

Note
• An additional license is required for using ArtiMinds.
• Refer to the ArtiMinds RPS Installationin the Installation Guide for information on installing ArtiMinds.

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Using the ArtiMinds Robot Programming Suite (RPS)

• The list of tools available to robots is configured in Robot toolbox. This list is automatically
synchronized with the list of robot tools in the ArtiMinds RPS Viewer.

The following is the workflow for creating an operation using ArtiMinds:

1. Choose View tab → Screen Layout group → ArtiMinds RPS Viewer to launch the ArtiMinds
RPS Viewer in Process Simulate.

2. Create an RPS robot operation in Process Simulate and allocate a robot. You can select robots
preconfigured to work with ArtiMinds RPS Viewer or any robot in the study and configure it to work
with RPS.

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 Using the ArtiMinds Robot Programming Suite (RPS)

Note
Process Simulate provides a number of preconfigured robots, grippers, and sensors which you can
copy to the system root and use here.

3. If you have selected a robot that is not already configured to work with RPS, configure the robot for
ArtiMinds RPS.
4. Define the RPS robot home pose.
5. Construct an operation:
• Drag a building block (for example, Move Linear) from the list in the bottom pane into the upper
area.
• Configure the block parameters. In the Move Linear example, define the target location.
• Click Visualize Simulation Result to view the motion of the building block in Process Simulate.
Only the motion is viewed, there is no interaction with any objects in the scene.
• Construct the entire operation by adding blocks and configuring their parameters. You can visualize
the simulation results.

• Click Simulate Control Flow to update the operation in Process Simulate, and enable
simulating it in the Sequence Editor.
6. Optionally, you can invoke LAR - learning and analytics for robots to make improvements to your
operations using statistical analysis algorithms.
7. Save your work in the Study.

Synchronize locations between Artiminds RPS Viewer and Process Simulate:

Optionally, if you wish to synchronize critical locations between Artiminds RPS Viewer and Process
Simulate that are not currently used by any Artiminds template, select the desired locations in the Points
& Paths tab and set Share with Process Simulate. The synchronized locations are listed under the RPS
Locations node in the Operations Tree (T25, T26, and T27 in this example) and any changes made in
one system is reflected in the other. Locations used by Artiminds templates are listed under the relevant
template (T16 in this example).

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Create an RPS robot operation

For information on the other parameters on this tab, view the ArtiMinds documentation.

Create an RPS robot operation

Procedure

1. In the ArtiMinds RPS Viewer, click Create Operation .

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 The New RPS Operation dialog box appears.
2. The default operation Name is RPS_Op, you can edit this as necessary.

3. Set the operation Scope.

4. Select a robot from the Robot list or pick one in the Graphic Viewer or Object Viewer.
• If you select a preconfigured robot, or one that you have already configured manually, it is shown

with the icon. Its mounted devices are also shown.

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 • If you select any other robot (not preconfigured for RPS), it is shown with the icon.

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 If required, select the following components. If configured for RPS, is shown, otherwise .
◦ Force Torque Sensor
◦ Gripper

Note
To work with RPS, the gripper must:
◊ be a single-drive gripper
◊ have a zero lower limit
◊ be mounted on the robot

◦ Vision 1 -3 - select up to three cameras. The cameras must be manufactured by the same
vendor.

5. Click for each robot or component not preconfigured for RPS and configure it as described in
Define robots for ArtiMinds.
6. In the New RPS Operation dialog box, click OK.

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 The new operation is created and displayed in the Object Viewer.

By default, the RPS operation is named after the selected robot with the RPS_Op suffix. The RPS
operation appears in the Object Viewer and is marked with the icon. Only operations marked
with this icon can be edited in RPS.

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 Note
• In ArtiMinds you can click File → Settings and access the General tab to set the Simulation Split, as
follows:
◦ All (no split)—ArtiMinds creates a single Process Simulate operation for all the building blocks in
the program.

◦ Split Top-Level—ArtiMinds creates a separate Process Simulate operation for each top level
building block (template) in the program. This enables you to simulate various parts of the program
without having to simulate the entire program.

◦ Split Switch-Cases—ArtiMinds creates a separate Process Simulate operation for each top level
building block (template) in the program and, additionally, operations for each switch in all the
building blocks that contain switch cases. This enables you to simulate various parts of the program
without having to simulate the entire program.

• Clicking the OLP Commands column header opens the Teach Pendant, listing all the OLP commands
nested under the specified operation.

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Define robots for ArtiMinds

You can reorder, duplicate, or remove OLP commands. Also, you can add OLP commands associated
with the same robot.
• You cannot edit RPS operations using any of the Process Simulate tools. This can only be done using
the ArtiMinds RPS Viewer. However, you can right-click an operation and rename it.

Define robots for ArtiMinds

Methods for configuring robots and components in ArtiMinds

Before using Process Simulate robots and components in the ArtiMinds Robot Programming Suite, you
must configure them for use in ArtiMinds. This can be done in any of the following ways:

Note
Components must be in modeling scope to enable configuring them for RPS.

• Use robots and components preconfigured for ArtiMinds provided by Process Simulate at
<installation folder>\eMPower\Geometry\ArtiMinds.

• When creating a new RPS operation, click the icon beside a robot or component not configured
for RPS. Alternatively, pick robots in the Graphic Viewer or Object Viewer and click in the toolbar
of the ArtiMinds RPS Viewer. In these cases, the updated configuration is saved in the relevant JT file.
This means that when you use the modified robot or component in another study, it is equivalent to a
robot or component preconfigured for use in ArtiMinds (requires no further configuration). Proceed as
described in Define RPS Component.
• Select robots and components and run the ArtiMinds Robot Configurator. The updated configuration is
saved in the relevant RPS operation in the Process Simulate study.

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 Define RPS Component

Remove RPS configuration

It may be necessary to remove RPS configuration. For example, if a component has been remodeled and is
now only a gripper whereas it was previously a gripper/sensor.

1. Select the component the Graphic Viewer or Object Viewer and click in the toolbar of the
ArtiMinds RPS Viewer.
The Define RPS Component dialog box appears.

2. Click .
3. Click Apply.

You can now configure the component for use in RPS. according to its current modeling state.

Define RPS Component

Procedure

1. In the New RPS Operation dialog box or ArtiMinds RPS Viewer, select a robot or component and

click Define RPS Component .

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 The Define RPS Component dialog box appears.

2. Set the Type of component you selected, as follows:

• For a Robot, set the Object and Model according to the manufacturer specifications.

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 • For a Force Torque Sensor, set the Object, Model, and Sensing Frame according to the
manufacturer specifications.

• For a Gripper, set the Object and Model according to the manufacturer specifications.

• For a Vision component, set the Object, Model, and Origin Frame according to the manufacturer
specifications.

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ArtiMinds Robot Configurator

• For a combined component, set the relevant parameters for each component in the combination.
For example if you have a gripper with a force torque sensor, first set Type to Gripper and set the
gripper parameters and then, without closing the Define RPS Component dialog box, set Type to
Force Torque Sensor and set the sensor parameters.
3. Click Apply.

ArtiMinds Robot Configurator

To configure the robot in RPS, run the ArtiMinds Robot Configurator, as follows:

Note
If you are using a preconfigured robot and/or components, the relevant configurations are already noted
in the configurator.

Procedure

1. If the ArtiMinds RPS Viewer has not opened automatically, choose File → New Robot Setup.

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 Define the RPS robot home pose

2. Select the Robot Arm (mandatory).

3. Select the following components, as applicable:
• Force Torque Sensor
• Gripper
• Vision System
4. Click Next a number of times. Some of the parameters are optional, but you must set the following
parameters in the ArtiMinds Robot Configurator so that they exactly match those of the robot in
Process Simulate: Manipulator arm, Force Torque Sensor, Gripper, and Tool Center Point Origin.
To assist you in this, the robot is shown in the ArtiMinds Robot Configurator in the same orientation
as it is currently in Process Simulate. You can use any of the Process Simulate tools to verify the
relevant values and then set them in the ArtiMinds Robot Configurator.You can skip the additional
wizard steps, such as Communication, because they only need to be configured when working with
a physical robot. For more information, refer to ArtiMinds documentation.
5. Click Finish.

Define the RPS robot home pose

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 If the Home Pose symbol symbol is displayed in red, the robot's home pose is undefined. Proceed as
follows:

Procedure

1. Click .

2. Click one of the following options:

• Set: 3D: The current robot pose, including all its current joint values, is used as the robot home
pose.
• Set: Wizard:

Use Process Simulate tools to move the robot to the desired pose and click Use Demonstration to
use the new robot pose as the home pose.
Alternatively, select a waypoint and click Finish.
The Home Pose symbol turns light green.

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 Construct an RPS operation

The robot's home pose is now defined.

Construct an RPS operation

Use standard ArtiMinds building blocks (templates) to construct a robot operation.

Procedure

1. Select a building block from the bottom pane, for example Move to State.

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 Hovering over the block in the bottom pane displays an animation of the specified motion.
2. Drag the building block to the top pane.

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 3. Double-click the block in the top pane to open the configuration wizard.

4. Click Run Wizard.

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 5. Follow the steps of the wizard to configure all the location parameters required for the specified
building block. For each location, use the tools in Process Simulate to move the robot to the desired
location:
• Move the robot to the desired location.
The waypoint list displays New Point.

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 Click Update Demonstration. This also creates the new waypoint.
• Select a waypoint.

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 Click Update Demonstration.
• Click Use Demonstration if no changes are required.

Note
It is also possible to Create building blocks using linked waypoints.

6. Click Finish to complete the configuration wizard.For more information, refer to ArtiMinds
documentation.

7. You can click Visualize Simulation Result to view a simulation of the motion.

Note
There is no interaction with the Process Simulate data. For example, the robot cannot lift objects.

8. Drag additional building blocks to the top pane. These are automatically connected to form a
complete operation.

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 Edit RPS robot operation

You can also create IF branches and loops, as described in the ArtiMinds documentation.

9. When the operation is complete, click Simulate control flow . This updates the Process Simulate
operation, enabling you to run the operation in the Sequence Editor. The operation is fully
integrated with the Process Simulate data. For example, the robot may pick up objects and deposit
them at other locations.
10. Save the study.

Edit RPS robot operation

Procedure

1. In the ArtiMinds RPS Viewer, select an Operation.

The Robot allocated to the specified operation is shown in read-only mode. You cannot edit any robot
parameters.

2. Modify the robot operation, as described in Construct an RPS operation.

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Create building blocks using linked waypoints

Create building blocks using linked waypoints

Your data may already contain locations that are relevant to the operation you wish to create. For example,
you may already have locations at the desired source and destination of an object you wish to move. In
this case, you can preselect the relevant locations and create a building block tailored on those locations.
Alternatively, you can create new waypoints for building blocks.

If you move a waypoint, for example using the Placement Manipulator, the ArtiMinds RPS Viewer is
automatically updated. After compiling the program, the Process Simulate simulation is also updated.
Therefore, these points are known as linked waypoints because they are synchronized with Process
Simulate.

Procedure

1. Select an Operation.The allocated Robot is shown.

2. Click Custom .

The Create Template list opens.

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 3. Expand the desired motion type and select a building block.
For Move Linear, the dialog prompts you to pick one waypoint.

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 Pick an existing waypoint or click in the Graphic Viewer to create a new waypoint.
Different building blocks require different numbers of waypoints. For example, Move Circular
requires a point for the circle center and another point on its circumference.

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 Note
The waypoints are used for the building block locations in the order you selected them. In this
example, the first selected waypoint is used for the center point and the second to mark the
circumference.

4. Click Add if you wish to add another building block and configure its waypoints.

You can also select waypoints for additional building blocks.

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 Note
• You can use the same waypoint in multiple building blocks.
• Some building blocks do not require a particular number of waypoints. For example, when
creating a Path building block, a new waypoint is added each time you click in the Graphic
Viewer.
• The Move to state building block does not require any waypoints.

5. Click Create to complete the building block and insert it into the operation in the top pane of the
ArtiMinds RPS Viewer.
The operation is displayed in the Object Viewer together with its waypoints.

Note
• Waypoints are only visible when the ArtiMinds RPS Viewer is running and the parent operation is
active.
• If Simulation Split is set to Top level or Switch cases in the ArtiMinds General tab, the waypoints are
displayed in the Object Viewer under the relevant part of the operation or switch case.

Create program with both Process Simulate and ArtiMinds RPS operations

If necessary, you can create a robotic program comprising both Process Simulate operations and ArtiMinds
RPS programs. In this way, you can take advantage of the torque-sensing and vision capabilities of
ArtiMinds for delicate, precision robot motion in complex environments.

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 Procedure

1. In the Robotic Program Inventory, create a new robotic program (for example Main).
2. Add the required operations - both Process Simulate operations (for example, Pick ()) and RPS
operations for (example, #CallPath Grasp).

Note
All the programs added must have been previously loaded in the ArtiMinds RPS Viewer.

3. Add all the operations used to the Path Editor.

Proceed with the simulation.

Download to robot

When you have finished composing your program, you can download it to the robot using the ArtiMinds
download command.

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 Note
If you use the Download to robot command instead, the RPS operations will not be downloaded.

Procedure

1. In the ArtiMinds RPS Viewer, click .

The Download to Robot dialog box lists all robotic programs and operations that relate to any item
currently loaded in the ArtiMinds RPS Viewer.
2. Select the items you wish to download and click Download.
3. When prompted, click OK to convert the program to the relevant robot script code and complete the
download.

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 Upload from robot

Note
If the robot is offline, conversion proceeds and the file is saved, but not downloaded to the robot.

Upload from robot

If you have downloaded a program to a physical robot and fine-tuned it directly on the robot, you can
upload it to Process Simulate to retain the changes for your next session.

• In the ArtiMinds RPS Viewer, click .

If the robot is online, select the desired program. After uploading, a new operation is created in the Object
Viewer.

If the robot is offline, copy the program files to a memory stick or any other media. You can then copy the
files to your Process Simulate system.

ArtiMinds operation optimization

Learning and analytics for robots

Mass production of parts can result in some parts not matching each other as intended, and therefore the
locations specified in a robot's preconfigured operation may not correspond exactly to the locations on all
the parts. ArtiMinds provides subprograms to solve this problem.

For example, if a robot is required to insert the pins of a component into holes in a printed circuit board, it
may succeed to do so for some boards, but on others it might miss the holes by a small distance. Artiminds
subprograms instruct the robot to move the component around the expected vicinity of the hole until
success is achieved.

The ArtiMinds Robot Programming Suite (RPS) learning and analytics (LAR) function tracks all instances of
a given subprogram location and records all relevant parameters. It then calculates the optimal location
and sends it to Process Simulate. After optimization, the location is more likely to match a greater number
of parts or to be very close to the locations on other parts.

There are two LAR modes:

• Planar optimization—LAR calculates the optimal 2D location(s) and sends it to Process Simulate. The
updated location is displayed.

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Optimize operation

• Upload only—After LAR calculates the optimal 2D location(s), Process Simulate duplicates the relevant
location(s) and uses the updated location(s).

Note
Currently, LAR is only supported by robots manufactured by Universal Robots.

Optimize operation

Use learning and analytics to optimize operations.

Procedure

Procedure

1. Click the OLP Commands cell of an operation location in the Path Editor to open the Teach
Pendant.

2. Click Add.

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 Procedure

The list of OLP command categories appears.

3. Select ArtiMinds Subprogram.

4. In RPS Operation, select the desired Subprogram.

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Procedure

5. Set Enable LAR Optimization to On.

6. Click OK.
The ArtiMinds subprogram you specified is loaded in the Teach Pendant.

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 Procedure

The following parameters are configured for the selected location:

• #locationTagValue—Specifies the internal system identifier for the location that is being
optimized.
• #CallPath—Specifies the name of the subcommand to be used at the location.
7. Click Close to exit the Teach Pendant.
The command is inserted in the Path Editor.

8. Configure additional locations as required.

9. In the ArtiMinds RPS Viewer, download the operation to the robot (in this example, Case_2067_R)
and run it a number of times for LAR to collect data.

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Procedure

10. In the ArtiMinds RPS Viewer, click LAR Optimization to activate LAR.

The Retrieve LAR Optimized Data list is displayed. By default, the Planar optimization mode is
activated.

Every location with a #locationTagValue is listed together with its parent operation.
11. Select locations to optimize (and clear those you currently wish to omit). If you select an operation
(for example Case_2067_Relais), the system optimizes the locations in the list that are nested under
the operation.
12. Click OK to execute the optimization.
The following figure shows the optimization of the P2070_place_01 location. The frame of the robot
TCPF is positioned at the center of the relay before optimization, and is offset to the left after
optimization.

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 Procedure

In addition, Process Simulate creates a CSV optimization file. The file is named File
Optimization_<time stamp> and is stored in the user's profile.

It contains a record for each optimized location, noting the distance in the X, Y, and Z dimensions
of the optimized location from the original location, and the X, Y, and Z coordinates of the original
location and the optimized location.

Note
Set the Coordinate Type for locations to be optimized to Cartesian or Inverse kin in the Path
Editor to achieve accurate results.

13. Optionally, switch to Upload only mode instead of Planar optimization mode.

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Procedure

When you click OK, the system creates an optimized duplicate of each selected location with its
parent operation.

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 Displaying viewers

Displaying viewers

Positioning viewer windows

After selecting a viewer from the View tab, you can position the viewer in several ways:

• Dockable — The viewer appears at the edge of the application window or another viewer.
• Hide — The viewer is not displayed. You can use the space in your application window for viewers of
interest to you for your current task.
• Floating — The viewer's window appears over other windows.
• Auto Hide — The viewer is available, but displayed only on demand.

Dock a viewer

Procedure

1. Click in the viewer's title bar, select Docking, and drag the viewer towards the desired
location.orIf the viewer is floating, click its title bar and drag it towards the desired position.The

system highlights the desired position and displays the multi-docking icon

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 together with other docking icons .

2. Drag the viewer until your mouse pointer touches one of the following icons:

• The stacking icon . The viewer is stacked with the other viewers in the selected location. Click
a tab to view one of the stacked viewers.

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 Hide a viewer

• One of the docking icons surrounding the stacking icon . The viewer is docked
beside the other viewers in the selected location.

• A docking icon. The viewer is docked at the edge of the application window according to the
location of the icon you clicked.

Hide a viewer

• To hide a viewer, click in the viewer's title bar and select Hide.
• To display a hidden viewer, choose View tab → Layout group → Viewers and select the viewer you wish
to display.

Display as a floating viewer

• Click in the viewer's title bar, select Floating, and drag the viewer to the desired position.or
• If the viewer is docked, click its title bar and drag it to the desired position.

The following figure illustrates a floating viewer.

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Auto hide a viewer

Note

Floating viewers do not have or icons.

Auto hide a viewer

• Click in the viewer's title bar and select Auto Hide.or

• Click the Docked icon in the viewer's title bar.

The viewer name appears in the status bar at the bottom or sides of the application window. Moving the
cursor away from the viewer hides the viewer. Placing the cursor over the viewer name in the status bar
displays the viewer. The Auto Hide icon appears in the viewer's title bar .

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 • To cancel Auto Hide, click in the viewer's title bar.

Selecting objects in the viewers

Note
This section is relevant for the Object Viewer only.

You can click objects in the viewer in order to select and work with them. Selecting an object in the
Object Viewer simultaneously selects the object in the Graphic Viewer.

You can select nodes as follows:

• To select a single node, click the node. This deselects previously selected nodes.
• To select several nodes, hold down the <Ctrl> key and click each required node.
• To select a range of consecutive nodes, select the first node in the range, hold down the <Shift> key and
click the last node. The selection includes the intervening nodes.

Blanking/Displaying objects

Note
This section is relevant to the Object Viewer only.

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Expanding and collapsing the tree

The Object Viewer displays nodes regardless of whether the nodes are blanked or displayed in the Graphic
Viewer.

Note
You can blank and display objects (including any attached notes) in the Graphic Viewer using the toggle
boxes next to the element names. When you click the toggle box, it switches between a filled box, ,
indicating that the object is displayed and an empty box, , indicating that the object is blanked.

Expanding and collapsing the tree

Note
This section is relevant to the Object Viewer.

You can expand the Object Viewer as follows:

• Clicking the + icon next to a node in the tree expands the node to display the next level down.
• Clicking the - icon collapses the node to hide everything in that node.

It is useful to expand the tree fully to display all levels, since some entities are nested within
subcomponents.

You can also expand and collapse the tree either by level or by type of node. (Nodes are elements in the
tree.) Select a node in the tree and select one of the following options (displayed when you right-click an
empty area in the tree):

• Expand Level – Expands the entire tree to show all nodes at the same level as the selected node.
• Expand 1 Level – Displays one level of sub-nodes below the selected node.
• Expand 2 Levels – Displays two levels of sub-nodes below the selected node.
• Expand 3 Levels – Displays three levels of sub-nodes below the selected node.
• Expand Type – Displays the sub-branches under the nodes that have the same type as that of the
selected node.
• Expand All – Expands all the sub-branches in the Object Viewer.
• Collapse Level – Hides the sub-branches under the nodes at the same level as that of the selected node.
• Collapse Type – Hides the sub-branches under the nodes that have the same type as that of the
selected node.
• Collapse All – Hides all the sub-branches in the Object Viewer.
• Hide Node – Hides the selected nodes together with their sub-branches.

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 Sorting and filtering

• Hide Level – Hides all the nodes in the tree at the same level as that of the selected node, including
their sub-branches.
• Display All Objects – Displays all the nodes in the tree.
• Display Level – Displays all the nodes in the tree at the same level as that of the selected node,
including their sub-branches.
• Display Node Only – Displays only the specified nodes with their attachments up to the root, hiding
everything else in the tree.

Note
Expand and collapse options appear in the following:

• Object Viewer
• Sequence Editor
• Path Editor

Sorting and filtering

Note
This section is relevant to the Object Viewer only.

You can sort the tree alphabetically. Select a node in the tree and then select Sort Nodes from the context
menu (after adding if from the Customize dialog box). All the nodes under the selected node are sorted
alphabetically. Saving the data persists the newly sorted order to subsequent Process Simulate sessions.

You can use filters to select the types of objects that are displayed in the tree. This enables you to filter
large volumes of data easily and view selected types of objects only. Filtering also improves the system's
performance by enabling you to filter out data that may degrade performance, such as CAD data. You can
filter the tree by selecting which levels and nodes to display or hide by selecting predefined filters. You can
also filter and sort the objects in the Object Viewer according to their link sequence.

1. Right-click an empty area in the Object Viewer and choose Tree Filters Editor to display the Object
Tree Filters dialog box.

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Sorting and filtering

2. Select the object types and level of details that you want to display in the tree and clear the object
types and detail levels that you do not want to display. This prevents loading unnecessary entities in
the Object Viewer that can degrade system performance.

Note
Selecting or deselecting a parent node in the Tree Filters Editor automatically selects or deselects
all of that node's children. However, you can change the selection of child nodes independently of
parent nodes, by selecting or deselecting them individually

3. Click OK.
The tree hierarchy is displayed according to the objects selected, and is saved for future Process
Simulate sessions.

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 Viewer icons

Viewer icons

Note
This section is relevant for the Object Viewer only.

The following is a list of elements that can be nodes at the first or second level of the tree:

Icon Element
Component

Library Component (Read-only)

Group of Components
Frame
Path

Human

Robot

The following is a list of elements that can be nodes in the tree at the lower levels:

Icon Element
Solids/Surfaces

Lines/Curves

Geometric Entity (containing two or three

geometric types, for example, both lines and solids,
or points and curves and surfaces)
Component

Library Component (Read-only)

Group of Components
Frame

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Screen Layout

Screen Layout

Layout Manager

The Layout Manager enables you to save layouts of trees, viewers, toolbars, and context menus in Process
Simulate. You can apply a saved layout to the Process Simulate window by selecting the layout from a
dropdown list in the Layout group.

Layouts can also include any customizations made to context menus, as described in Customize.

Note
For closed domain networks, you can use the Tecnomatix Doctor Tools Enable Roaming option to store
your customized layouts for use on other machines on the network to which you login. Customizations
you created before activating this option are not available. The layouts that you configure once in
roaming mode become unavailable when you switch to local mode, but are restored when you enable
the roaming mode again.

Manage Layouts

To create a layout:

Procedure

1. Arrange the various viewers according to the desired layout.

2. Choose View tab → Screen Layout group → Layout Manager to display the Layout List window.

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 To create a layout:

3. Click New.
The New Layout dialog box appears.

The new layout will consist of the viewers you opened before invoking the Layout List window. These
will be in the size and position you arranged them. However, you can select one of the following
options for the toolbars and top-level menus in the new layout:
• Use Default - The toolbars and top-level menus in the new layout will be according to those in the
default layout. If the default layout changes, the new layout will also change.
• Use Current - The toolbars and top-level menus in the new layout will be according to the way you
arranged these before invoking the Layout List window.

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To update a layout:

4. Click OK. The system closes the New Layout dialog box and adds a new line to the Layout List.
5. Enter a name for the layout in the Layout column.
6. Select the Public checkbox if you want all users to have access to the layout.

Note
Public layouts may be created, updated and removed only by users with the Public Configuration
privilege.

7. Click Update.The new layout is saved.

To update a layout:

Procedure

1. Make the required changes to the viewers.

2. Select the layout from the Layout List dialog box.
3. Click Update.

To rename a layout:

• Select the layout in the Layout List window, press F2 on the keyboard, and enter the new name in the
Layout column.

To delete layout:

Procedure

1. Select a layout in the Layout List dialog box.

2. Click Delete.

Apply Layout

To apply a layout to the Process Simulate application window, proceed as follows:

Procedure

1. Choose View tab → Layout group → Layout Manager .

The Layout List dialog box opens.

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 2. Double-click the desired layout.OrSelect the desired layout and click Apply.

When changing between different layouts, the Layout Manager retains the following parameters:

• Button states (display collision options and colliding area options)

• Column parameters
• Pane parameters

Export/Import Layout

After customizing and saving layouts tailored for various tasks, you can export the layout and save it. This
enables you to import the layout to your own system after upgrading to a newer release or to distribute it
to other users for their use.

Note
Layouts re not interchangeable between different Tecnomatix platforms.

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To export a layout:

To export a layout:

Procedure

1. Choose View tab → Layout group, click the small arrow below Layout Manager , and select Export.

The Export Layout dialog box opens.

Note
The digit in the icon represents the number of monitors for which the specified layout is configured.
Refer to Configure Layouts for Multiple Monitors.

2. Enter a meaningful File name and click Save. The exported file is saved in the .layout format.

To import a layout:

Procedure

1. Choose View tab → Layout group, click the small arrow below Layout Manager and select
Import.The Import Layout dialog box opens.
2. Browse to the .layout file containing the desired layout and click Open.The imported layout is added
to the Layout list dialog box. This enables you to apply the imported layout as described in Apply
Layout.

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 Configure layout for multiple monitors

Configure layout for multiple monitors

You can configure layouts for use with multiple monitors.

For example, you might wish to display some viewers on your secondary monitor for extra clarity.

To configure a layout for two monitors:

Procedure

1. Drag a viewer to the secondary monitor.

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 2. Dock the viewer on the secondary monitor.

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 Display Floor

3. Create a new layout as described in Manage Layouts.

Display Floor
The Display Floor option displays (set by default) or hides the floor of the assembly in the Graphic
Viewer.

Choose View tab→Screen Layout group→Display Floor .

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Display Floor

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 Adjust Floor

Adjust Floor

The Adjust Floor command allows you to change the size of the floor and the floor grid either
automatically or manually. There is also an option to change the color of the floor and grid.

Note
Only integer values are used to calculate the new floor size. The system rounds up non-integer values to
the next whole number.

Procedure

1. Choose View tab → Visibility group → Adjust Floor.

The Adjust Floor dialog box is displayed.

2. Enter the X and Y values to determine the interval between their respective grid lines, up to a
maximum of half the respective floor size measurements.
3. Enter the X and Y values to determine the size of the floor. The bounding box of all objects in the
scene, including blank objects, is calculated.
4. If you wish to hide the floor in the Graphic Viewer, check the Show Grid Only checkbox.
5. Click Apply or click Reset to revert to the original.
6. Click Close to apply the changes and close the dialog box.

Changing Floor and Grid Color

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 You can change the colors of the floor and grid, if necessary, to enhance the graphic view of the scene.

To change the floor or grid color:

Procedure

1. Choose File tab → Options.

The Options dialog box is displayed.

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 2. In the Graphic Viewer tree, select Floor and open the color palette below. Select a new floor color.
The color change takes effect after you close the Options dialog box.
3. In the Graphic Viewer tree select Grid and open the color palette below. Select a new grid color. The
color change takes effect after you close the Options dialog box.

Note
The default floor color is gray. The default grid color is black.

Multiple Graphic Viewer commands

You can open multiple instances of the Graphic Viewer. The following commands can be used to manage
instances of the Graphic Viewer:

• New Window – Enables you to open an additional instance of the Graphic Viewer.

• Arrange Windows – Enables you to arrange the instances of the Graphic Viewer as desired.

• Switch Windows – Enables you to choose which of the Graphic Viewers is the active instance.

For more information, refer to Graphic Viewer.

Orientation

Graphics manipulation demo

See this video for a demonstration of graphics manipulation:

Note
Videos are not included in PDF. To access videos, use HTML.

Parallel/Perspective

The Parallel/Perspective option toggles the camera view of the objects in the Graphic Viewer between
Parallel (default) and Perspective modes.

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 Parallel/Perspective

• Parallel mode — Displays the data as viewed from an infinite distance. This means that lines that are
parallel in space are displayed in parallel in the display.
This mode is defined only by direction and provides a convenient viewpoint for engineers to describe
data from different viewpoints, such as front, right, or top views.

• Perspective mode — The viewpoint is defined by position, direction, and field of view and reflects what
a user sees when moving inside the data (refer to Virtual Reality). In this mode, depth is visualized with
intentional distortion, making objects appear closer or further away according to their position in the
data, to display the virtual world of the engineering data in a more realistic way.

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Pan

Pan

The Pan option moves the image in the Graphic Viewer horizontally and vertically.

Zoom

The Zoom option increases or decreases the size of the image in the Graphic Viewer. When zooming in to
the graphics scene, the application zooms (and pans) to the location of the cursor.

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 Rotate

Rotate

The Rotate option rotates the image in the Graphic Viewer.

Select

The Select option restores the function of the left mouse button to select objects in the Graphic Viewer.

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Visibility

Visibility
The Visibility options enable you to select an object and change the way it is displayed in the Graphic
Viewer. The Object Viewing option includes the following suboptions:

• Shaded
• Wireframe
• Transparent

Note
• These options are persisted at the study level (they change instances, but not prototypes).
• If you set object display to Transparent and then set end modeling, this overrides its prototype color,
which you can only revert by using the Modify Color command.

Each suboption has a corresponding button in the Object Viewing gallery and changes the appearance of
the object, as follows:

Button Suboption Description

Shade Shades an object so it appears as solid.

Wireframe Outlines an object with lines so it appears as a wireframe.

Transparent Lightly shades an object so that objects normally hidden behind it can be
viewed.

Restore Color

It is useful to modify object colors for several purposes, for example, to help visualize data more clearly, to
differentiate components, to create emphasis and to mark objects, status, types, variants, etc.

After changing the color of parts and resources, users can reset objects to their original color with the
Restore Color command.

Procedure

1. Select one or more parts and resources, including compound parts and compound resources.

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 2. Choose View tab → Visibility group → Restore Color .Selected objects with modified colors are
reset to their original color.

Note
• It is not necessary to be in Modeling mode to restore object prototype color.
• The Restore Color command does not affect PMIs, frames and via locations.

Stereo 3D viewing

Warning
To enable stereo 3D viewing, your system must use a graphic card and screen monitor that support
Active Stereo, and you should be equipped with stereo viewing glasses.

Stereo visualization provides an impressive three-dimensional representation that enhances the viewing
experience for users and decision-makers.

Procedure

1. Close the Tecnomatix application — In Tecnomatix Doctor, from the Tools menu, choose Enable the
use of 3D stereo viewing.

2. From the application choose View tab → Visibility group → Stereo 3D On/Off to toggle stereo
viewing on and off.

Note
Activating the Stereo Viewing mode sets the viewing mode to Perspective and deactivates the
Parallel/Perspective toggle capability.

3. When Stereo Viewing is active, you can use the Stereo 3D tab to adjust the 3D viewing parameters
according to your needs.

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 Setting Description
Field of View Default is 28 degrees. Increasing the number of degrees stretches the image
along the lines of the visual field angle you set. This may allow greater visibility
of objects in the background while causing greater viewing distortion. Enabling
Asymmetric Projection causes the system to adjust each eye view direction to
converge vision at the convergence distance.
Asymmetric Enabling this option causes the system to adjust each eye view direction to
Projection converge vision at the convergence distance set in the Convergence option,
below. Deactivating this option also deactivates the Convergence option.
Convergence Relative – (no units) convergence distance is relative to what is displayed.

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 Absolute – convergence by distance you set.
Eye Separation Distance between the two offset images – increasing the distance causes a
more pronounced stereo effect; decreasing the distance results in seeming
flatter 2D viewing.
Relative – (no units) eye separation distance is relative to what is displayed.
Absolute – eye separation is fixed by the distance you set.

Note
The Stereo 3D tab is only displayed in the Options dialog box when you enable 3D stereo viewing
in Tecnomatix Doctor.

When Stereo 3D mode is enabled, while the Graphic Viewer displays in Stereo, the output of the following
tools is in standard 2D/3D graphic viewing: Attach Image, AVI Recorder, Movie Manager, 3DPDF, Markup
Editor.

Performance of the following may be somewhat affected:Human Vision window, Multi Sections, and
Sections Viewer display in Stereo 3D (when it is enabled).

Note
When switching to Stereo 3D Viewing mode, the Graphic Viewer toolbar is deactivated. In order to
access the toolbar in this mode, users need to open the ribbon customization dialog box (right-click on
the ribbon) and click to activate the GV Toolbar entry under Main Tabs.

Show locations/frames always on top

Click . When set, all locations and frames are displayed on top of all the other objects for clear viewing.

Sections

Sections commands

The Section command contains a number of options, listed in the table below. You can use sectioning to
enable you to view objects from perspectives and angles in the assembly that normally may be difficult to
achieve, for example, an intricate connecting point inside the chassis of an engine assembly.

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Sections commands

Button Tool Description

New Section Plane Enables you to create new
section planes. Refer to New
Section Plane.
New Section Volume Enables you to create new
section volumes. Refer to New
Section Volume.
Activate Section Enables selected sections to
clip or cut the view in the
Graphic Viewer. The maximum
number of activated sections is
determined by your computer's
graphic card. The overlay
displays in the Object Viewer.

For section planes, Clip mode

shows everything on the
negative side of the section, and
clips everything on the positive
side of the section. For section
volumes, Clip mode shows
everything inside or outside the
section according to the selected
clip mode.

Cut mode shows the contours of

the assembly cut by the section.

Activated sections are displayed

with borders only, the surface
is invisible (to distinguish them
from deactivated sections). You
can change the default border
color in the Appearance tab.

Note
You can activate multiple
section planes or up
to two section volumes
simultaneously. You cannot
activate section planes
and section volumes
simultaneously.

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 Sections commands

Button Tool Description

Deactivate Section Deactivates the selected section's
ability to clip or cut and restores
all objects previously clipped
by the section. The command
also updates the corresponding
overlay in the Object Viewer.

Deactivating the section

automatically displays the interior
side of the section in the Graphic
Viewer.
Section Manager Enables you to manipulate
the position of a selected
section around translational
and rotational axes in the
Graphic Viewer. Refer to Section
Manager.

The Section Manager opens

automatically after creating any
New Section Plane or New
Section Volume.
Clip Section There are two sectioning modes
for activated sections: Clip or Cut.
The default is Clip - enabling one
mode automatically deactivates
the other.

Clipping provides a view of

the objects in the Graphic
Viewer, shows everything on the
negative side of the section, and
clips everything on the positive
side.

By default, object contours are

not displayed when clipping -
use Show Section Contours to
display them.

You can set the contour color in

the Appearance Tab.

• Clip Inside - Clips everything

inside the section volume.

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Sections commands

Button Tool Description

• Clip Outside - Clips everything

outside the section volume.

Note
If the section volume or the
objects in the Graphic Viewer
move, the system updates the
display dynamically.

Cut Section Provides a section drawing with

section contours and an outline
of the objects at their intersection
position with the section plane
displayed for all active sections.
Contours are displayed in the
same color as their objects.

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 Sections commands

Button Tool Description

Enabling Cut mode automatically
deactivates Clip mode.
Flip Section Flips the section in the opposite
direction.
Adjust Section Plane Size Adjusts the size of the managed
section plane to the bounding
box of all currently displayed
objects at the orientation of the
section plane. Notes are not
considered in the adjusted size.

Note
This command is not relevant
for section volumes.

Preview Section Contours Displays the section contours

when the section is not active.
This command is deactivated
when selecting an active section.
Orient View to Section Plane Changes the view to look toward
the positive Z-axis of the section,
while the distance between the
Eye to the view center remains
unchanged.

Section Alignment Offers the following section

alignment options:

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Sections commands

Button Tool Description

Aligns the section to the YZ plane

Align to X of the working frame.

Note
Not relevant for section
volumes.

Aligns the section to the XZ plane

Align to Y of the working frame.

Note
Not relevant for section
volumes.

Aligns the section to the XY plane

Align to Z of the working frame.

Note
Not relevant for section
volumes.

Places the origin of the section at

Align to Point a picked position.
Places the origin of the section
Align to Frame
with the picked frame.
Aligns the section at the center
Align to Line between Two of two points you pick in the
Points Graphic Viewer.

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 Sections commands

Button Tool Description

Aligns the section perpendicular
Align to Edge to the point you pick on a 2D
object. The orientation is set
arbitrarily.
Aligns the section normal to the
Align to Surface normal of the selected surface
with the origin of the section at
the picked location.
Updates section contours for all
Align to View Plane active sections according to their
position and the position of
the objects currently displayed.
The command is useful when
the Dynamically update section
contours option is deactivated.
Align to View Plane Aligns the Z axis of the section to
the view from → view to vector
and aligns the positive Y axis of
the section to the up vector of
the camera. The position of the
section is not changed.
Show Section Contours Displays white contours in Clip
mode.

Contours are automatically

updated as you move the section.
Use the to change the default
color and width of the contours.

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Sections commands

Button Tool Description

Capping When contours are displayed and
you enable Capping, the system
colors all the object surfaces
clipped by the section.

Note
• The system only applies
capping to surfaces that
form closed volumes.
• For information on how to
set the capping color, see
the Appearance tab.
• The capping polygon is not
included when exporting
data to JT format.

Hatching When contours are displayed and

you enable Hatching, the system
displays diagonal lines (hatching)
on all the object surfaces clipped
by the section.

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 New Section Plane

Button Tool Description

Note
• The system only applies
hatching to surfaces that
form closed volumes.
• For information on how to
set the hatching color, see
the Appearance tab.
• The hatching polygon is
not included when exporting
data to JT format.
• Clipping contours override
hatching lines.

New Section Plane

The New Section Plane command creates a section plane along the YZ plane of the working frame. The
new section plane is sized according to all the displayed objects and located at the geometric center of the
objects. If a section plane already exists, New Section Plane adjusts its size and location according to the
currently displayed objects.

Selecting the New Section Plane command automatically opens the Section Manager dialog box,
allowing you to manipulate and move sections, and activate or deactivate them for cutting or clipping
the view in the Graphic Viewer. The Section Manager manages both section planes and section volumes.
For information on how to create section volumes, see New Section Volume.

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New Section Volume

You can use a section plane in a simulation by adding it under a group, and using the group as simulated
object.

New Section Volume

The New Section Volume command creates a cubic section volume in the Graphic Viewer and Object
Viewer.

Selecting the New Section Volume command automatically opens the Section Manager dialog box,
allowing you to manipulate and move sections, and activate or deactivate them for cutting or clipping the
view in the Graphic Viewer. The Section Manager manages both section planes and section volumes. For
information on how to create section planes, see New Section Plane.

The system locates the new section volume according to the objects selected at the time when you create
the section:

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 Section Manager

• No objects selected - The system places the new section at the center of the bounding box of the
currently-displayed objects. The section volume is aligned with the working frame.
• Single object selected - The system places the new section at the center of the currently-selected object.
The section volume is aligned with the working frame.
• Multiple objects selected - The system places the new section at the geometric center of the currently-
selected objects. The section volume is aligned with the working frame.

For information on how to configure the section volume size and the color of the top and bottom faces
of the section volume, see Appearance Tab. The system automatically sets the other faces of the section
volume to a darker shade of the same color.

You can use a section volume in a simulation by adding it under a group, and using the group as simulated
object.

Section Manager

Choose View tab → Section group → Section Manager to open the Section Manager dialog box.
This enables you to modify the position, size, and orientation of the selected section plane or volume in
the Graphic Viewer.

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Section Manager

Note
Though you can create multiple section planes, you can only manage one section at a time in the
Graphic Viewer.

Using Section Manager

Opening the Section Manager dialog box displays a Placement Manipulator attached to the managed
section. Use this to move and rotate the section freely. The dialog box also allows you to hide the
manipulator and translate or rotate the section along an axis in incremental steps:

1. Select a translation or rotation axis.

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 Section Manager

2. Click the right arrow or left arrow step button to move the section by one step - a
predetermined distance or angle.

Each click moves the section in the positive or negative direction of the axis or rotational angle,
according to which arrow you click. The number in the field is the distance the plane has moved from
its origin. You can translate and rotate section planes in six degrees of freedom.
3. You can modify the step size of the translation or rotation by placing your cursor over the Step Size

hyperlink. When its shape changes to , click to open the Step Size dialog box.

You can modify the translation step size (in millimeters) or rotation step size (in degrees) as needed.
The Section location area displays the position of the managed section:

4. In the Graphic Manipulation area, you can do any of the following:

• Placement - The system displays a Placement Manipulator at the section volume origin. You can
translate and rotate the section.

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Section Manager

• Scaling - The system displays yellow manipulator lines extending from each face and corner of
the section volume. Dragging a face manipulator changes the size of the selected face, dragging a
corner manipulator rescales the entire section volume.

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 Section Manager

Note
Scaling is not relevant for section planes.

• Shape - When you place your pointing device over one of the section volume edges, the system
emphasizes the edge in blue. You can drag the selected edge to reshape the section volume. You
can only drag the edges of the top and bottom faces (shaded in a darker color for clarity) in a
direction perpendicular to the edge itself - this ensures that the top and bottom faces remain in
parallel. You can drag the other edges in all directions but they must remain with the boundaries of
the top and bottom faces.

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Section Manager

Note
Shape is not relevant for section planes.

Note
You can check any combination of Placement, Scaling, and Shape simultaneously.

5. Click Reset if you wish to return the managed section plane to its location and orientation when the
Section Manager dialog box was opened.

The Section Manager dialog box contains an icon toolbar with the
following commands described in Sections:
• Activate Section
• Deactivate Section
• Flip Section
• Section Alignment
• Adjust Section Plane Size

Note
Not active when a section volume is selected.

• Preview Section Contours

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 New Section Viewer

New Section Viewer

Choose View tab → Section group → New Section Viewer to open the Section Viewer for one
section plane only. You can open up to five Section Viewers for the same section in order to view the
contents of the view from different angles.

Use the Section Manager dialog box to manipulate the section plane in the Section Viewer (the section
plane itself is not displayed). When using both the Section Viewer and the Graphic Viewer, you have the
flexibility to deactivate a plane for use in the Graphic Viewer, and still use it to clip or cut the view in the
Section Viewer. In this case, the modifications you make in the Section Viewer do not affect the view in
the Graphic Viewer. You can also activate the plane and use it, for example, to clip the view in the Graphic
Viewer while cutting it in the Section Viewer.

All the Measurements options can be used in the Section Viewer.

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Contours

Note
You can right-click in the Section Viewer to access a context menu to quickly blank a section, open a new
Section Viewer, and modify a section, if required.

Contours

Saving Section Contours as a Component

When displaying contours of objects in the graphic view (see Clip Section and Cut Section in Sections),
you can Save section contours as a component. This command exports the contours as a component for
a single selected active section when Show Section Contours is activated. The command opens the Save
Component As dialog box, allowing you to save the contours as a .COJT component.

Exporting Contours as .JT File

For a selected cutting section plane, Export JT exports the objects’ contours only as a .jt file. If no plane
was selected when launching the Export JT command, all the section contours are exported as monolithic
JT.

Dynamic Clipping
The Dynamic Clipping option is available in the Graphic Viewer. It enables you to view points of interest
blocked from view by intervening objects.

In Process Simulate the view displayed in the Graphic Viewer is the view as observed by an external
viewer located at a fixed point (known as the camera view point). Any object located between the camera
and the point of interest may partially or fully block the view. The Dynamic Clipping option defines an
adjustable clipping plane which hides all the objects between the camera and the clipping plane. The
clipping plane is always parallel to the camera's viewing plane and objects that straddle the clipping plane
are clipped (truncated).

To enable dynamic clipping:

Choose View tab → Views group → Dynamic Clipping to set dynamic clipping mode.

The following figure shows the result of dynamic clipping:

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 Dynamic Clipping

Choose View tab → Views group → Dynamic Clipping again to deactivate dynamic clipping.

To configure the dynamic clipping plane settings:

1. Use View Center to set the desired point of interest at the center of the Graphic Viewer display.

2. Choose View tab → Section group → Dynamic Clipping Plane Settings .

The Dynamic Clipping Plane Settings dialog box appears.

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Camera

Note
This command is only available when running in dynamic clipping mode.

3. Define the Clipping Plane in one of the following ways:

• Move the Clipping Plane slider between the Camera and the View Center as desired.
The Graphic Viewer is updated as you move the slider. This enables you to see the result of the
slider setting interactively.
• Type a number that represents the location at which you wish to set the clipping plane.
This number is a percentage of the distance between the Camera and the View Center.
• Click Reset to return to the original Clipping Plane value when you launched the Dynamic Clipping
Plane Settings dialog box.

Camera
The Camera object can be used to emulate a camera system in the station. It helps to view the scene from
specific viewpoints.

It is also possible to create a New Object Flow Operation and set the camera to be the simulated object
of the operation. In this way, you can move the camera through your work area and view objects and
activities of interest from defined angles. Additionally, you can attach the camera to any object in order to
move the camera as the object moves (without having to create an additional operation), refer to Open
Camera Viewer and to Attach Camera to Moving Part.

This video demonstrates the basic camera functionality.

Note
Videos are not included in PDF. To access videos, use HTML.

Create Camera

Procedure

1. Pick any location or object.

2. Choose View tab → Camera group → Create Camera .

The new camera is created and placed at the pick location.

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 Open Camera Viewer

You can display a which represents the camera's field of view.

Open Camera Viewer

• Pick a camera and choose View tab → Camera group → Open Camera Viewer .
A new instance of the Graphic Viewer opens, displaying the view from the camera.

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 Note
◦ When accessing the camera viewer, the system automatically invokes the perspective view mode,
refer to Parallel/Perspective.
◦ All commands to adjust the view in the camera's Graphic Viewer are disabled.

Viewing a simulation in the Camera viewer

Procedure

1. Choose View tab → Camera group → Open Camera Viewer . A second Graphic Viewer opens
for the camera. You can now view the work area from the original view point and also from the
camera's view point.

2. Use the View tab → Screen Layout group → Arrange Windows command to arrange the
Graphic Viewer windows conveniently in the application.
3. Right-click the new operation and choose Home tab → Operation group → Set Current Operation
or drag the operation into the Sequence Editor.

4. In the Sequence Editor, click Play Forward to play the operation.

Align Camera with Current View

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 If you wish to adjust your camera's view to show exactly the same view as your current Graphic Viewer,

choose View tab → Camera group → Align Camera with Current View .

Add Current View as Camera Location

You can add the current view as a location in an object flow operation whose simulated object is the
camera.

Procedure

1. Select a camera.
2. Select the operation in the Object Viewer under which you wish to add the camera's location. If
you click the operation root, the new location is added at the end of the operation and if you click a
location in the operation, the new location is added after the selected location.

Note
If you select an operation whose simulated object is not a camera, the system displays an error
message.

3. Choose View tab → Camera group → Add Current View as Camera Location .

The location is added to the operation.

Display camera envelope

To visualize a camera's field of view.

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Camera settings

Procedure

Select a camera(s) and choose Display Camera Envelope to display or hide a shape representing
the camera's field of view. This can assist you in manipulating the position and orientation of the camera to
obtain the desired view.

• You can run this command on multiple cameras.

• Running the command again displays camera envelopes for all the specified cameras if one or more
envelopes is currently not displayed. If all are displayed, this hides all the camera envelopes.
• The Display Camera Envelope parameters derive from the Color (RGB) Camera Configuration settings
in the RGBD Snapshot Configuration dialog box.
For complete information, refer to Cameras.

Camera settings

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 You can use cameras in Process Simulate to take still RGBD photographs, both RGB photographs and depth
photographs.

Procedure

1. Select a camera and choose View tab → Camera group → Camera settings command.

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 2. Configure the following:
• Image Creation Configuration—Enables you to select which types of photograph to take: RGB,
depth, or both.
• Color (RGB) Camera Configuration—Enables you to define the Width and Height to set the
photo's aspect ratio, and enter the number of degrees of the Diagonal Field Of View to set the
width of the camera's field of view (FOV).

• Depth Camera Configuration—You can define Diagonal Field Of View, Height, and Width
separately for depth photographs.
Depth Range is the distance range from the camera at which objects' depths can be determined.
You can define Maximum depth range and Minimum depth range to configure the distance in
front of the camera at which objects are depicted in the photograph, and colored accordingly.
Objects at the minimal distance are colored blue and those at the maximal distance red. The
depths of objects in between these points are colored in the red to blue scale, according to their
distance from the camera. The depths of objects outside this range (either too close or too far) are
not detected and they are colored black.

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 The depth snapshot is saved as a binary DAT file.
• Save depth image as JPG picture—If this option is set, the system also saves the depth image as a
JPG graphic image and creates a depth histogram.

• Color and Depth Image Alignment Options—These settings configure how the RGB and depth
images should be aligned with each other when the FOV is different for the RGB and Depth
cameras. In this case, the images (of the same objects) do not coincide and you can select
Crop the bigger FOV image or Pad the smaller FOV image with default value. By default, No
alignment is performed. The following diagrams illustrate the possibilities:

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 • Immediate Snapshot—Clicking Take Snapshot takes RGB or Depth pictures or both according to
the settings you configured and stores the resulting images in the folder you set in Select Folder.

By default, this is the system root folder. Click if you wish to change this.

• You can click to open the storage folder for the camera's images.
3. If you wish to save your configuration changes for future sessions with the camera and define it as an
RGBD camera, click Apply. This colors the camera orange in the Graphic Viewer.

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 Note
• If you configure the RGBD settings and click Take Snapshot (without clicking Apply), the photographs
taken while the RGBD Snapshot Configuration dialog box is still open conform to the new settings.
However, the camera is not designated as an RGBD camera, and the next time you open the dialog
box, it reverts to the default settings.
• The Camera settings dialog box configures the settings for all the stills you take with the camera,
both by using the Take Snapshot button and from the API.

Using cameras in object flow operations

This procedure describes how to set up a camera as the simulated object of an Object Flow Operation.
This means you can move the camera through the work area and observe each manufacturing station/
process from the optimal viewpoint thus enabling you to fine-tune your simulation. Using the Add Current
View as Camera Location command, you can quickly select viewing points through which to move the
camera and convert them into locations in the Object Flow Operation.

At the end of the Object Flow Operation (or before it or even in between two separate operations), you
can link the camera to a moving object (without having to use an Object Flow Operation). This is useful if,
for example, a robot picks up a part and then moves along its rail to deliver the part to the next station. In
this case, attaching the camera to the part causes the camera to move together with the part and enables
you to view the part continually.

Procedure

1. Create a camera.
2. Create a new operation, as follows:
a. Create a new Object Flow Operation.
b. Set the operation's Object to be the new camera and click OK.
c. Delete the operation's default locations.
3. Create operation locations, as follows:
a. Manipulate the Graphic Viewer so that it shows exactly the view you would like to see.

b. Choose View tab → Camera group → Add Current View as Camera Location .A
location is added to the new operation. From this location, the camera shows exactly the view
you just set.
c. Create all the desired locations.

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 Attach camera to moving part

Attach camera to moving part

Procedure

1. Select the camera.

2. Choose Home tab → Tools group → Attachment and click Attach . The Attach Objects list is
automatically populated with the camera. For more information on this command, refer to Attach.
3. Click the To Object field and select the part to which to attach the camera.
4. Click OK.

Process Simulate Virtual Reality

Process Simulate Virtual Reality

You can load Process Simulate studies into a Virtual Reality (VR) world, using VR hardware to become
immersed in the manufacturing area. Process Simulate Virtual Reality is easy to use and enables simple
and intuitive interaction with other workers, such as shop floor personnel, managers and personnel from
various departments who can review the data and provide their feedback.

For information on how to perform motion capture in Virtual Reality, refer to Vive Body Tracking.

Process Simulate Virtual Reality supports the following headsets:

• HTC Vive™
• HTC VIVE Pro, including support for Valve Index controllers
• HTC VIVE Pro 2, including support for Valve Index controllers
• HTC VIVE Cosmos
• HTC Vive Focus 3
• Hp Reverb G2

Note
To see the same view in Process Simulate as the image you see in Virtual Reality, you must enable the
Perspective camera view.

There are various use cases that may benefit from VR, such as:

• Analyzing safety issues

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Process Simulate Virtual Reality

• Optimizing cell and line layout

• Easy viewing of collisions
• Training personnel before purchasing required hardware
• Identifying process accuracy and malfunctions
• Human visibility, reachability, and ergonomics studies

Note
Prerequisites

• The kits should be connected and configured, including SteamVR™ software. The minimum supported
version is v1.14. Siemens recommends always working with the latest version.
• Follow the HTC Vive™ installation instructions at https://www.vive.com/us/setup/.
• The laptop/PC that is used should have a powerful graphics card that can support the VR scene. For
more information check the following links:
◦ HTC Vive™—https://www.vive.com/eu/support/vive/category_howto/what-are-the-system-
requirements.html
◦ HTC VIVE Pro—https://www.vive.com/au/support/vive-pro-hmd/category_howto/what-are-the-
system-requirements.html
◦ HTC Vive Cosmos—https://www.vive.com/au/support/cosmos/category_howto/what-are-the-
system-requirements.html

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 Process Simulate Virtual Reality

• The Virtual Reality functionality is packaged as a product called Process Simulate Virtual Reality
Analyze and requires a license.

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Valve Index Controllers

Valve Index Controllers

Valve Index controllers use multiple sensors to track all your fingers.

The little, ring and middle fingers are tracked by sensors on the controller handle. The index finger is
tracked when the finger is on the controller trigger. The thumb is tracked by the oval track pad on the
controller. Clicking buttons A or B opens the Process Simulate Virtual Reality menus. You can hover over
the menu buttons using the joy stick and make a selection by clicking the joy stick when the desired menu
button is highlighted.

You can customize the menus.

Live Hands and hands when using Vive Body Tracking are postured using the finger tracking data. If the
thumb is not on the track pad and and the index finger is not on the trigger for any reason, the hand
defaults to a pointing gesture.

If grasping is setup in Process Simulate, you must use the trigger to grasp objects.

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 Install Vive Focus 3

Install Vive Focus 3

For complete product information, refer to Vive Focus 3.

Procedure

1. Install VIVE Business Streaming.

2. Install the VIVE Business Streaming application on your Focus 3 headset.

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Hp Reverb G2 installation

3. If you are using a USB cable to stream data to your Focus 3 headset, follow this setup.
4. Launch Process Simulate Virtual reality.

Hp Reverb G2 installation

Procedure

1. Connect the Hp Reverb G2 headset to your computer.

The Mixed Reality Portal launches automatically and tests the hardware compatibility of your
computer.

You can follow the instructions below or refer to these detailed instructions.
2. The Thank you screen appears. Click Next.

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 3. The Controllers screen appears. Press and hold the Windows buttons on both controllers until the
controllers light up.

4. Click Next. The Boundary screen appears.

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 5. Mark out a boundary so that you avoid obstacles when immersed in Virtual Reality, and click Next.
6. Install Steam and Steam Virtual Reality.
7. Launch Steam VR.
8. When prompted, click Install to install the Windows Mixed Reality driver.

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 9. Click Next.

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 10. Click Finish.
11. When prompted, click Restart SteamVR.

12. Click to launch Windows Mixed Reality for Steam VR and adjust the floor height if
required.
13. Restart your computer, launch Process Simulate and run Process Simulate Virtual Reality. The Mixed
Reality Portal and Steam VR applications automatically start.

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 The Mixed Reality Portal appears.

14. Press the X and Y buttons on the controller to launch the Process Simulate Virtual Reality menus.

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Using Process Simulate Virtual Reality

Using Process Simulate Virtual Reality

The following represents a typical workflow for using Process Simulate Virtual Reality (VR):

Procedure

1. Load a study to Process Simulate.

Note
VR capabilities are supported on all Process Simulate platforms (eMServer, Teamcenter,
Disconnected, Standalone).

2. Choose View tab → Virtual Reality group → Virtual Reality to load data in the Virtual Reality
hardware.
If you picked a point on the floor prior to activating the command, your view is placed at that location
once data is loaded and you don the headset. Otherwise, you are located at the study origin.

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 For information on how to configure the background, refer to Background Scenes.
3. The Virtual Reality window opens and a message displays informing you about the available keyboard
shortcuts:

In all cases, the shortcuts are case-insensitive.

• Press R to toggle the render mode:

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 • Press E to erase all markups applied in the scene. This option is only active when you are using the
markup tool.
• Press U to decrease or I to increase light shininess.

Note
Pressing U on the keyboard can potentially help to solve problems of missing faces.

• Press J to decrease or K to increase lighting smoothness.

• Press G to decrease or H to increase objects' light emission. This can be helpful if objects are too
light or dark.

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 • Press T to enter Tutorial mode. You can trace your finger around the controller command menu to
receive additional on-screen instructions for each option.
4. You can don the VR headset and use the VR controllers (headset and controllers manufactured by
Vive™) to interact with the scene.

5. As you load the scene and data, press the menu buttons on the controllers (press 1 on the Vive
controller or 4 and 6 on the Cosmos controller) to display the virtual menu for each controller.

Note
It is also necessary to activate each controller by pressing its On button located below the touchpad
(3 on the Vive controller or 2 and 3 on the Cosmos controller)).

The controllers' command buttons appear as follows:

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 • Clicking Display opens the Display submenu.

—hides the highlighted object.

—displays all objects that were previously hidden in the current session.

—undoes the last hide action.

• Play Opens the Play submenu and enables you to play the operation currently set in Process
Simulate. If none are set, you can play the first operation or compound in the Object Viewer hierarchy.
The submenu also enables you to control the simulation activation with the Play, Pause, and Reset
buttons.

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 • Markup Causes a paint brush to appear at the top of the controller, which allows you to mark
things of interest in the scene. The following submenu also appears:

Use the arrow buttons to change the brush color and the undo button to erase markups. Pressing E on
the keyboard deletes all markups.

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 • Teleport Move yourself in the scene. Press the trigger to project a ray and aim it at the location
you wish to arrive at, then release the trigger to jump to that location. Teleport transports you to target
locations that are planar or horizontal surfaces, for example, the floor. In this case, the ray is green.
Otherwise, a red ray indicates that the target is not planar and horizontal. You can transport yourself
repeatedly, progressively, until you reach the precise spot you need to be in the scene.
Activating the command opens the Teleport submenu.

Note
You can adjust the length of ray for jumping to a target and turn yourself in the scene by 90 degrees
to the right or left (clockwise or anti-clockwise).

• Make a Note Enables you to add notes when running a Virtual Reality session and to track and
edit them in Process Simulate.

• Highlight Projects a ray from the top of the controller. Point the ray at an object to highlight it
in blue color. Pull the trigger in order to set the Process Simulate selection to the highlighted object. An
object remains highlighted as long as you point at it. You can move the highlight ray over the scene to
highlight objects one by one, and moving to the next object removes the highlight from the previous
one. It is not possible to multi-select objects. You can only highlight components - compounds and
entities cannot be highlighted.

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 • Snapshot Enables you to create a snapshot of the data when running a Virtual Reality session
and review it later in the Process Simulate Snapshot Editor.

• Undo Opens the Undo submenu, enabling you to undo or redo the last actions.

• Flashlight Pull the trigger and aim the controller at dark areas to illuminate them.

• Measure Projects a ray from the end of the controller which you can point at objects. The ray
has a green ball at its end until it contacts an object and then it turns to magenta. Pulling the trigger
and moving the controller extends a yellow line (reminiscent of a measuring tape) from the first object
to another one. Releasing the trigger fixes the measurement between the two points with the distance
displayed in the selected unit of measure. Each time you repeat this action, the previous measurement is
deleted as the new one is displayed instead.

• Guide Robot Causes the TCP points of all robots in the scene to display a yellow sphere. Move the
controller close to the sphere of the robot you wish to jog until the sphere changes to green. Press the
trigger continuously as you move the robot's TCP to a new location, and release the trigger to fix it there.
You can use the Reset Robot Pose (undo button) displayed in the submenu to jump the robot back to its
original pose before dragging.

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 • Move Opens the Move submenu and projects a blue ray from the top of the virtual controller.

You can aim the blue ray at an object and pull the trigger continuously to move or rotate the object. You
can only move components; compounds and entities cannot be moved.
Use the upper and lower arrows to move the object further or closer respectively, and you can also
rotate the object clockwise or counter-clockwise by touching the curved arrows.

• ViveBodyTracking . Refer to ViveBodyTracking - Motion capture in virtual reality.

Since the loaded data is connected to Process Simulate, changes in the Virtual Reality environment
automatically update the data in the study. The Virtual Reality window in Process Simulate enables a

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 Customizing the controller menus

user who is watching the 2D monitor but not wearing a Virtual Reality headset, to see the same view as
the person wearing the Virtual Reality headset, so both can communicate and collaborate.

Note
• Any changes you make in the blank/display visibility of objects and human figures in Process Simulate
are reflected in the VR session. Similarly, blank/display actions you make in the VR environment are
reflected in Process Simulate.
• When loading a Point Cloud in Virtual Reality, the layers that are visible in Process Simulate
are loaded. To maintain hardware performance, you can set the MaxPointsForPointCloud
in the SceneConfiguration.xml virtual reality configuration file. This reduces the number of
points displayed in the point cloud dispersion. In this case, the system disperses the points
optimally to provide a consistent view of the point cloud. The file is located at \Program
files\Tecnomatix_<version>\eMPower\VR\Config. For complete information about this configuration
file, refer to Customizing the virtual reality environment.

Customizing the controller menus

There are several ways that you can customize the virtual menus of the Virtual Reality controllers:

• Change the order of commands in both controllers.

• Set which commands are available for each controller.
• Change tooltips and command names.
• Change shortcuts when the Grip button is pressed.

To customize the menus:

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 Procedure

1. Navigate to the <installation folder>\eMPower\VR\Config folder (for example, C:\Program

Files\Tecnomatix_14.0.1\eMPower\VR\Config).
2. Backup the ControllerCustomization.xml file.
3. Use any XML editor to edit the ControllerCustomization.xml file.
a. The menu order is determined as follows: the first command in the customization file is the
bottom one (at 6 O'clock on the controller), and the others follow in a clockwise direction.
b. The <DefaultTool> command defines the Grip button (shortcut).

Adding Notes in Virtual Reality

If you discover an issue that requires attention when immersed in a Virtual Reality review, you can add
a note with icons and pictures that describes the issue. The note is available in Process Simulate at the
location you placed it during the Virtual Reality session. When you return to Process Simulate, you can
access the note, review all the information currently known about the issue, add comments, and update
the status. In this way, you can track the issue to its successful resolution.

Procedure

1. Press the menu button on the VR hand-held controller to display the virtual menu, and select Make a
Note.

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 The sticker menu appears.

2. The various stickers represent different types of issues, allowing you to categorize the issue
immediately when you create the note. To select the sticker that best represents the issue you wish to
document, use the arrow buttons on the submenu.

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 Note
Folders for each type of note sticker are automatically created in the Object Viewer.

3. When you find the symbol you wish to use, pull the trigger. In the following example, the safety
distance between the robot and the fence is insufficient, so the Safety sticker was selected.
The selected sticker hovers in the display and is connected to the controller by a ray.

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 4. Direct the controller ray, and use the submenu arrow buttons to move the sticker to the place where
you detected the issue you wish to document.
Pull the trigger to finalize the location.
If you move the sticker close to an object, the object is highlighted.

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 Pulling the trigger when the object is still highlighted creates a note that is attached to the specified
object.
A camera frame appears.

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 5. Position the frame where you wish and pull the trigger to take a picture. You can take more than one
picture, in which case the picture index is displayed in the bottom left of the picture frame.

6. Click .

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 All pictures taken are inserted in the note and the note is inserted in the Process Simulate Graphic
Viewer exactly where you created it in Virtual Reality. If you attached the note to an object, it is
marked as Attached in the Object Viewer.

7. In Process Simulate find the note sticker (it is at the same location as you created it in Virtual Reality)
and double-click it.

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 8. Browse between the different pictures taken in Virtual Reality using the arrows below the currently-

displayed picture. If you wish to delete a picture, use the delete button .

9. You can set the Status to Opened, In Progress or Closed as appropriate.

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 10. Add a meaningful Description of the issue. This will be visible in the next Virtual Reality session.

11. You can maintain a detailed description (in History) to keep a record of the actions performed to
resolve the issue. This is visible in the next Virtual Reality session.

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 12. Click Apply to save the changes to the note. The updated note is visible in both Process Simulate and
Virtual Reality.
13. To open and view an existing note in VR, select Highlight Object on the hand-held controller.
a. Point the ray at the sticker and pull the trigger.

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 The note opens and displays the picture you took.

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 You can browse between the pictures using the arrows on the sides. The description of the issue
is displayed below the picture.

b. Aim the ray at .

c. Pull the controller trigger.

A detailed description of the issue is displayed.

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 d. You can modify the status of the issue. The possible values are: Opened, In Progress, and
Closed.

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 Virtual Reality snapshots

e. Close the note.

Virtual Reality snapshots

Snapshots in Virtual Reality

During a Virtual Reality session, you can take a snapshot of the current view. The snapshot name is
prefixed with VR_ and the snapshot is saved with all the other Process Simulate snapshots in the Snapshot
Editor. You can use snapshots to record interesting situations during Virtual Reality sessions, and because
snapshots include engineering data, poses, attributes, and more, in addition to the view of the data, you
can use them to help reproduce the same situations in Process Simulate.

Virtual Reality aspect ratio

Because the aspect ratio in the Virtual Reality application and that of its snapshot in Process Simulate often
vary, the view in the Virtual Reality application and its snapshot in Process Simulate are not necessarily
identical, in spite of the fact that the viewpoint is the same in both cases. Toggling to Perspective in
Process Simulate reduces the difference.

Additionally, the Virtual Reality application lags behind the Process Simulate simulation, due to processing
requirements, and complex data increases this delay. Because taking a snapshot in Virtual Reality actually
renders the result from the Process Simulate data, you should keep in mind that the result is a snapshot of
the data at a later point in time (as the simulation has run ahead of the Virtual Reality application). For that
reason, the snapshot does not correspond exactly to the data as viewed in Virtual Reality at the moment of
photography.

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Take snapshot in Virtual Reality

• In this example snapshot, all the data in the Virtual Reality view is captured. You can pan and zoom the
snapshot to access data that is not currently visible in the snapshot, such as the aircraft engine.
• The perspective view minimizes the differences between the views.

Take snapshot in Virtual Reality

Procedure

1. Press the controller snapshot button.

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 2. Pull the controller trigger to take a snapshot of the current view.

Note
The position and orientation of the controller do not affect the resulting snapshot.

All the snapshots you take are displayed in the Snapshot Editor.

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Collaboration over VR

Collaboration over VR

Collaboration sessions

Process Simulate users can invite others, even if they are not Process Simulate users, to join them in a
Virtual Reality session to collaborate in a Process Simulate scene. It is recommended to send the scene data
generated by the Export VR scene command to guests prior to running the collaboration session. In such
a case, the time required for the guest to load the session data can be significantly reduced.

Note
Guests must install the Siemens Digital Industries Software Virtual Reality application on their machines
(PSonVR.exe at <installation folder>\eMPower\VR) and be connected by a shared domain to the Process
Simulate host user. The version of the VR utility driver used on the guest machine must match the one
used on the host machine. If the guest machine has more than one VR version installed, the version
matching that of the host machine is automatically launched.

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 Host - send VR invitation

Host - send VR invitation

Host Process Simulate Virtual Reality session

Procedure

1. After starting Virtual Reality, choose View tab → Virtual Reality group → VR Invitation.
The Create Invitation to Virtual Reality Session dialog box opens.

2. Fill in the following fields:

• Output: Session invitation—Specify the folder path where the system creates the InviteFile.psvr
file, which is a small file containing the session details. You can send the file to one or more guests
by email, or place it on a shared network path where they can access it.

Note
After a guest receives the invitation and joins the session (see below), a notification displays in
the scene to alert you that the guest has joined.

• Fill in the Session Details, as follows:

◦ Collaboration data—Specify the PSVRC collaboration data file you created for the session.
Before running the session, you must share it with your guests (via a shared drive, FTP, or any
other method) prior to running the session. Guests are required to save the file, as described
below. Using this method, significantly reduces the amount of time required by guests to load
the VR session.

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Guest - join VR session

Note
If you add data to the scene after exporting its data to the collaboration file, the additional
data is also loaded by the guest when launching the Process Simulate Virtual Reality
application. If you have made significant changes, consider exporting the scene to another
collaboration file.

◦ Host nickname—Specify your avatar the name to be displayed in the collaboration session.
◦ Session password—Optionally, enter a password that guests will be required to use when they
log in to the Virtual Reality session. By leaving this field empty, guests will not need a password
and they automatically connect to the scene.

Guest - join VR session

Join Process Simulate Virtual Reality session

Procedure

1. If the host has sent a PSVRC collaboration data file in advance of the session, proceed as follows:
a. Open the SceneConfiguration.xml file from <installation folder>\eMPower\VR\Config\.

b. Modify the CollaborationRoot node as convenient for storing the PSVRC collaboration data file
and save your changes.
c. Move the PSVRC collaboration data file to the collaboration root.
2. Access the .psvr invitation file made available by the host (for example, attached to an email, or
placed on a shared network) and double-click the file. The Process Simulate Virtual Reality login
window opens.

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 3. Enter your avatar name in the Nickname field. It displays in the collaboration session to identify you
and is persisted on your machine from one session to the next. If the host sent you a password, type
it in the Password field.
4. Click Join and the scene loads, which may take a few minutes. If you have stored a PSVRC
collaboration data file, the scene loads faster. If the host has added any data to the scene since
exporting it to the collaboration file, this data is also loaded.You can don your VR headset and use the
VR controllers (headset and controllers manufactured by Vive™) to join the host and collaborate in
the scene.

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Advanced troubleshooting for collaboration sessions

The following IT and security settings add flexibility in setting up VR collaboration sessions in security-rich
environments.

• Defining a static address for the PSVR host

You can set HostStaticAddress in the NetworkConfiguration.xml file (<installation
folder>\eMPower\VR\Config).
◦ The HostStaticAddress can be either a numeric address or a hostname.
◦ When set, the guest machine attempts to connect to this host first. If this fails, the address(es)
contained in the invitation file are used.
◦ This option is useful when the installation uses specialized routing, tunnels, or other network
configurations to allow connections within a complex corporate network, or to facilitate connections
through routers and firewalls.
• Improved handling of blocked FTP ports
The PSVR host uses an FTP server to transfer the scene data to collaboration guests (port 21).

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 Export VR scene

◦ Process Simulate detects connections that are blocked due to firewalls or other threat protection
measures and informs users, enabling them to work around the problem without IT intervention.
◦ If the FTP connection cannot be made, and the PSVR session is not using pre-shared geometry via a
PSVRC file, the following message is displayed: “Unable to access the host FTP service. Either resolve
this connectivity issue or use an export scene (PSVRC file).”
◦ If the PSVR session is using a PSVRC file, the scene is loaded without user intervention (this is noted in
the log file).

Note
By default, when a PSVRC file is shared, the FTP connection is still made so scene updates that have
occurred since the file was generated can be shared with collaboration guests. For example, if one
guest joins late, and objects have been moved during the session, the host sends a scene update
with the new positions. This does not occur if the FTP connection is lacking. In this scenario, guests
joining late see an outdated version of the scene until further modifications are made.

Export VR scene

You can export the scene data to a PSVRC file and send it to your collaboration partners (guests) prior to
opening the collaboration session. In this case, the time required for a guest to load the session data can
be significantly reduced.

Procedure

1. Choose View tab → Virtual Reality group → Export VR Scene.

2. Set the File name and its path.

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Live Hands in Motion Capture and Virtual Reality

3. Set the Level of details to High, Medium, or Low. Retain the default setting of High unless the data
loads too slowly.
4. Click Export.The currently-visible data is exported and stored in the specified PSVRC file.
5. Share the PSVRC file with your guests. You can do this over a common drive, by FTP, by email, or any
other method.

Live Hands in Motion Capture and Virtual Reality

The Live Hands command enables you to manipulate specified objects. Live Hands are controlled in one of
two modes:

• VIVE control—Use the VIVE Controllers when you manipulate objects in the Virtual Reality application.
Alternatively, you can replace the controllers with virtual hands that enable you to grasp specified
objects. Releasing an object near to its target location places the object at that location.
• Data Glove—Use a motion capture glove when you run a Motion Capture application with Process
Simulate. When you move your glove-hand, the Live Hand in Process Simulate moves. When the Live
Hand approaches an object, you can make a grasp gesture with your glove-hand to make the Live Hand
grasp the nearby object in the Process Simulate virtual twin. Releasing the object near to its target
location places the object at that location.

Configure Live Hands for Virtual Reality

You can use the F2 and F3 keyboard shortcuts to instruct the left and right live hands you created to
automatically grasp (or release) the nearest object. It is also possible to configure any clicker device to
activate F2 or F3, enabling you to activate the live hands after moving away from your computer (which is
likely to happen in a virtual reality session).

If you launch Vive Body Tracking after activating Live Hands, the Virtual Reality application displays a
complete human model and not just the live hands (the model's hands are superimposed on top of the live
hands, and the latter are blanked).

Procedure

1. Choose View tab → Virtual Reality group → Live Hands .

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 2. Set Hand Posturing to VIVE Controller.

3. Click to create a left hand and/or to create a right hand, or pick existing hands.
The Live Hand is displayed in the Graphic Viewer and the Object Viewer.

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 4. Click Scale if you wish to modify the parameters of the hand. For information on how to edit the
hand parameters, refer to Human Properties. You cannot change between right and left hands.
5. Click the hand Posture Library to quickly modify the hand posture. You can do this, for example, to
quickly verify if the current hand fits into a tight corner.

Note
The Show hand frames option is only relevant to Data Glove mode.

6. Click the Objects to Grasp list and pick objects with which the Live Hands can interact.

7. Configure snap locations for selected objects. These are target locations at which the live hands
deposit the parts. The part is deposited at the closest target location.
a. Set Snap locations are active if you wish to snap objects to specified locations when they are
released by the live hands, or clear it to ignore snap locations.
b. When you click Set adjacent to Use current location as snap location for all objects, the
current locations of the objects in the Objects to Grasp list are saved. After moving an object,
you can now return it to this location.
8. Define additional snap locations for selected objects: This enables you to define several locations for
aligning each object. For example, you can define locations for an object at different work stations so
that it is placed at the precise location and orientation each time it is moved.

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 • After moving the objects in the Objects to Grasp list to their target locations (you can use any
means to do this, for example, apply a snapshot or Placement Manipulator), click Set. The
system saves the current location of each object in the Objects to Grasp list as its snap location.
• Alternatively, to configure multiple snap locations for a specified object:
a. Select an object in the Objects to Grasp list.
b. Click Open adjacent to Define more snap locations for selected object.

c. Move the selected object to its target location. You can use any means to do this; icons for
the following functions are provided to assist you: Zoom to fit, Placement Manipulator, and
Relocate.
d. Click Add.

e. Give the new location a meaningful name and click OK.

f. Create additional locations. When the live hands release the object, it snaps to the closest
target location in the list.
9. Configure the Snap objects to location when closer than distance. If the distance between a part
and one of its snap locations is less than this value, then when the live hands release the object, the
object automatically snaps to that location.

Note
The Start Server button is only relevant to Data Glove mode.

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 10. Set Active.

11. Choose View tab → Virtual Reality group → Virtual Reality to load the hands in the Virtual
Reality hardware.
The Virtual Reality application launches. You can manipulate the specified objects with the Live
Hands you created and grasp settings you configured.

Note
If you cleared Active, Virtual Reality loads with Vive controllers instead of live hands.

The following figure shows a live hand grasping an auto tail lamp.

The following figure shows the tail lamp snapped into its place.

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 Configure Live Hands for Motion Capture

Configure Live Hands for Motion Capture

You can use the F2 and F3 keyboard shortcuts to instruct the left and right live hands you created to
automatically grasp (or release) the nearest object. It is also possible to configure any clicker device to
activate F2 or F3, enabling you to activate the live hands after moving away from your computer (which is
likely to happen in a virtual reality session).

Note
Launching the Live Hands command automatically launches your Motion Capture server and the Pause
Motion Data button is displayed.

Procedure

1. Choose View tab → Virtual Reality group → Live Hands .

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 2. Set Hand Posturing to Data Glove.

3. Click to create a left hand and to create a right hand or pick existing hands.
After the Motion Capture application has connected to Process Simulate, the dialog box shows the
Connected message in the title bar.

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 The Live Hand is displayed in the Graphic Viewer and the Object Viewer.

4. (Optional) Click Scale Using Tracker Data to modify the characteristics of the Live Hand to match
the Motion Capture frames accurately. This is important if you wish to perform precision actions in
Process Simulate.
5. Click Constrain to confine the Live Hand to the position, orientation, and motion of the glove-hand.

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 6. Set or clear Show hand frames to display or hide the frames received from the glove in your motion
capture application.
7. Click the Objects to Grasp list and pick objects with which the Live Hands can interact.

8. Configure snap locations for selected objects. These are target locations at which the live hands
deposit the parts. The part is deposited at the closest target location.
a. Set Snap locations are active if you wish to snap objects to specified locations when they are
released by the live hands, or clear it to ignore snap locations.
b. When you click Set adjacent to Use current location as snap location for all objects, the
current locations of the objects in the Objects to Grasp list are saved. After moving an object,
you can now return it to this location.

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 9. Define additional snap locations for selected objects: This enables you to define several locations for
aligning each object. For example, you can define locations for an object at different work stations so
that it is placed at the precise location and orientation each time it is moved.
• After moving the objects in the Objects to Grasp list to their target locations (you can use any
means to do this, for example, apply a snapshot or Placement Manipulator), click Set. The
system saves the current location of each object in the Objects to Grasp list as its snap location.
• Alternatively, to configure multiple snap locations for a specified object:
a. Select an object in the Objects to Grasp list.
b. Click Open adjacent to Define more snap locations for selected object.

c. Move the selected object to its target location. You can use any means to do this; icons for
the following functions are provided to assist you: Zoom to fit, Placement Manipulator, and
Relocate.
d. Click Add.

e. Give the new location a meaningful name and click OK.

f. Create additional locations. When the live hands release the object, it snaps to the closest
target location in the list.
10. Configure the Snap objects to location when closer than distance. If the distance between a part
and one of its snap locations is less than this value, then when the live hands release the object, the
object automatically snaps to that location.

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 11. (Optional) Click Pause Motion Data if you need to close down the motion capture server.The Start
Server button is then presented, enabling you to resume motion capture when you are ready.

Configure Live Hand Settings

Procedure

1. Click the Grasp Settings tab.

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 2. Set Emphasize objects.
As the Live Hand approaches (or moves away from) objects in the Objects to Grasp list, those objects
are displayed in Process Simulate in the proximity colors shown in the dialog box. Only one object can
be shown in red (Grasped) and only one in purple (Closest to hand), but multiple objects can be
shown in the other colors.

3. In the Grasp Options area, you can press the F2 key to instruct the left Live Hand to grasp a nearby
object (and press it again to release the object) and the F3 key for the right Live Hand.
If you set Hand Posturing to Data Glove on the Setup tab, you can set Grasp/release closest

object based on grasp aperture (mm) , and configure the following parameters for the
glove-hand (this is not relevant for the VIVE setting):
• Grasp when aperture is less than—The Live Hand grasps the nearest object (the object's color
changes from purple to red) when the distance between the thumb and index finger of the data
glove it is less than this value.
• Release when aperture is greater than—If the Live Hand is grasping an object and the distance
between the thumb and index finger of the data glove increases so that it exceeds this value, the
Live Hand releases the grasped object (the object's color is no longer red).

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 VR Sequencer

The Current Aperture area displays the current distance between the thumb and index finger of the
data glove. You can use these figures as feedback to set the Grasp/release parameters optimally.

4. Set Ignore objects further than This is the distance from the palm of the hand to the
specified objects. Objects further away from the Live Hand are never grasped. This prevents mistaken
grasps and is relevant for both the VIVE Controller and the Data Glove.
5. Click Close to exit the Live Hands dialog box.

VR Sequencer

The VR Sequencer enables you to compile a sequence of tasks in Process Simulate, which can be run in
Process Simulate Virtual Reality for a guided experience.

When you perform the sequence in Virtual Reality (by controlling a human model via Vive Body Tracking),
you can use the Posture recorder to convert your actions into a Task Simulation Builder (TSB) operation.
Alternatively, you can run the VR Sequence as a training exercise before introducing new workers to the
shop floor or for troubleshooting purposes.

When you run the sequence in Virtual Reality, a tablet appears in the scene displaying the instructions you
had configured for each action in the list. The VR interface displays a blue halo-like circle on the ground
indicating where to begin the sequence and arrows that indicate, for each step you configured in the VR
Sequencer, which object to move, from where to where in the scene.

To create a VR Sequence

Procedure

1. Choose Home tab → Viewers group → Viewers and select VR Sequencer or View tab → Screen
Layout group → Viewers and select VR Sequencer.

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To create a VR Sequence

After launching the VR Sequencer, you can click View tab → Virtual Reality group → VR
Sequencer to hide or reveal the VR Sequencer.
2. Type a name for the new sequence or retain the default name (VR_Sequence) and click Create.
The new sequence appears in the sequence list.

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 To create a VR Sequence

The system also creates a snapshot of the current scene and sets it as the Initial Scene
Configuration. This acts as the base configuration. When you create move actions, you move objects
away from their position in the Initial Scene Configuration.

3. You can use and to reorder the sequence list and to delete the selected sequence.

4. If you set Freestyle for a sequence, the order of the steps in your sequence is ignored when you
perform the sequence in Process Simulate Virtual Reality. This means you can interact with any of the
objects specified in any of the sequence steps (by controlling a human model via Vive Body Tracking)
at any time during the session.
5. After creating a new sequence, it is displayed in bold font and its Use cell is checked to indicate that
it is the active sequence. When you launch Virtual Reality, the active sequence runs. If you wish to
launch Virtual Reality without running a sequence, set No Active Sequence.
6. Select an object in the Graphic Viewer or Object Viewer, move it to the desired position, and click
to create a new step in the sequence.

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To create a VR Sequence

You can use any method to move the object, for example Relocate or Placement Manipulator.
If you select multiple objects, the system creates steps for each one in the order in which you selected
them.
Optionally, you can move all the objects in the sequence to their final locations, select objects in the
order they should appear in the sequence, and click . All selected objects will be added to the
sequence in a single action.
7. The system automatically composes a Step Description By default this is named by the action and
the name of the object, for example, move_S020R001. This text is the instruction that is displayed
on the tablet when you perform the sequence in Virtual Reality. Edit this description if necessary by
double-clicking the step.
8. You can select the type of grasp to be used by the human model in Virtual Reality to hold the object
while moving it to its destination.

• Auto Grasp: The hand automatically wraps around the object.

• Auto Prec: The fingers automatically close around the object.
• Flat: The hand remains open during grasp.
• Pinch: The fingers pinch the object during grasp.
• Power: The hand forms an open fist during grasp.
Flat, Pinch, and Power correspond to grasps in the Grasp Wizard and hand Posture Library.
9. After specifying an object in a sequence step, you can attach it to another specified (target) object.
a. Double-click the Attach To cell in the step record of the relevant object.
b. Pick the target object in the Graphic Viewer or Object Viewer.

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 To create a VR Sequence

c. Click the step record to confirm the attachment.

Moving the target object also moves its attached objects. However, moving an attached object moves
that object alone, and nullifies its Attach to status for all the target's attached objects.
10. Create all the steps required for the sequence.

11. You can use and to reorder the steps in the sequence and to delete the selected step.

You can also click to move the object associated with the selected step to a different destination.
12. If you wish to modify the initial configuration or one of the steps, select the item, make the necessary

changes, and click .

13. If you wish to delay a step, for example to allow time for an object to arrive on a conveyor before
lifting it off the conveyor:
a. Select the step you wish to delay.
b. Expand the Step Details and set the Delay step for period of time.

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To create a VR Sequence

c. Enter a Description of the reason for the delay.

14. After you have created at least one step, you can select the Initial Scene Configuration to configure
the teleport and tablet positions.

The initial positions of the teleport and tablet are shown in the Graphic Viewer.

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 To create a VR Sequence

• Click and set the teleport position and/or orientation as required. This is the starting point for
the Virtual Reality session and is displayed as a blue circle in Virtual Reality. By default, the system
places it close to the location of one of the objects moved in the sequence but you can modify this.

• Click and set the tablet position and/or orientation as required. When you perform the
sequence in Virtual Reality, the tablet displays the instructions you wrote in the step descriptions. It
is important to locate the tablet in the scene where it is clearly visible but does not block your view
of the actions in the sequence.
The following is an example of selecting positions for the teleport and tablet.

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To create a VR Sequence - overview of how to add multiple steps in a single action

15. Optionally verify the sequence by clicking each step in turn in the VR Sequencer. Each action is
executed and each moved part is briefly highlighted in yellow in the Graphic Viewer when it reaches
its destination.

To create a VR Sequence - overview of how to add multiple steps in a single action

Procedure

1. Launch the VR Sequencer and create a new sequence.

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 To create a VR Sequence - overview of how to add multiple steps in a single action

2. Move all the objects to their final positions (for example, using Relocate or Placement Manipulator).

3. In the Graphic Viewer or Object Viewer, select all the objects you moved. Select the objects in the
order in which you wish to insert them in the sequence, as the system creates sequence steps in the
order of selection.

4. Click .
The system creates all the steps of the sequence.

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Performing the sequence in Process Simulate Virtual Reality

Performing the sequence in Process Simulate Virtual Reality

Procedure

1. To open a Virtual Reality session, choose View tab → Virtual Reality group → Virtual Reality.
2. If you wish to record the motion of a human model, start the Posture Recorder and pick a model to
control.
3. Move to the blue circle. This is the teleport you configured in the VR Sequencer and it indicates the
sequence starting point.

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 Performing the sequence in Process Simulate Virtual Reality

The tablet appears with the Welcome message.

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Performing the sequence in Process Simulate Virtual Reality

4. Move the virtual hand to tap the Start button. When the hand approaches the tablet, it adopts a
pointing gesture.The tablet displays instructions for the first step in the sequence, for example:
5. View the blue arrow and pick up the object the arrow it is pointing to.

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 Performing the sequence in Process Simulate Virtual Reality

6. View the green arrow and place the object at the location the arrow it is pointing to.

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Performing the sequence in Process Simulate Virtual Reality

7. Follow the instructions for all the steps.

If you configured a delay for a step, the delay timer appears.

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 VR object physics

8. Optionally:
• If you have activated View tab → Virtual Reality group → VR Object Physics, when an object is
released by a human model in mid-air, it falls to the ground.
• Turn off the Posture Recorder at the end of the sequence, if you were recording it.
• Examine the new operation in the Object Viewer and Sequence Editor.

You can now simulate the operation.

VR object physics

Choose View tab → Virtual Reality group → VR Object Physics to toggle the VR
Physics mode.

When using either Live Hands or VR Sequencer to pick and place items, the objects respond as you would
expect in the real world, falling naturally and rolling down graded surfaces, and settling in place according
to the surrounding geometry. You can turn off this feature if system performance is impacted.

You can fine-tune this feature using the <installation

folder>\eMPower\VR\Config\SceneConfiguration.xml file.

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Ergonomic feedback in Virtual Reality

Ergonomic feedback in Virtual Reality

Virtual Reality supports real-time ergonomic feedback in two different ways:

• Heads Up Display (HUD). Ergonomic indications are displayed in the Virtual Reality headset. When
enabled, the operator receives real-time visual cues concerning postures when performing strenuous
actions.
When recording postures in Virtual Reality, the HUD shows a recording indicator (red dot) in the bottom
left of the display.
• Real-time Ergonomic highlighting. When active, postures can be assessed in real-time, giving visual
cautions (yellow—(warning, or red—higher risk)) directly on the relevant body parts of all the human
models, indicating ergonomic posture issues. Warnings appear for both static postures, or continually-
updating warnings when the human model is in motion.

Ergonomic feedback can be used to rapidly evaluate the postural demands of workstation layouts or
assembly sequences, while making adjustments on the fly to achieve optimal designs. This can be done
within the Virtual Reality application without having to run an ergonomic analysis, unless additional
detailed ergonomic information is required. The following table describes the ergonomic posture limits
used in Virtual Reality:

Joint Axis Yellow Red Reference

Neck Flexion >25 ISO 11226
Extension >25 ISO 11226
Rotation >20 Keyserling et al 1992 (also matches
Ergonomic Metrics Default)
Lateral bend >20 PDA - Keyserling et al 1992
Trunk Flexion >20 >60 ISO 11226 (also matches Ergonomic
Metrics Default)
Axial twist >20 PDA - Keyserling et al 1992
Lateral bend >20 PDA - Keyserling et al 1992
Wrist Flexion >45 OWAS
Extension >45 OWAS
Supination/ >65 Lowe (2004), Osullivan &
Pronation Gallwey(2005), Levangie &
Norkin(2001) (also matches Ergonomic
Metrics Default)
Radial/Ulnar >20 Moore and Garg (1995) (also matches
Ergonomic Metrics Default)

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 Ergonomic feedback in Virtual Reality

Joint Axis Yellow Red Reference

Shoulder Flexion >45 >90 McAtamney and Corlett (1993), Hignet
and McAtamney (2000), Seth et al.
(1999) (also matches Ergonomic Metric
Default)
Extension >20 REBA, McAtamney and Corlett (1993),
Hignett and McAtamney (2000) (also
matches Ergonomic Metrics Default)
Abduction >45 >90 PDA - Occhipinti (1998) (also matches
Ergonomic Metrics Default)
Humeral Rotation >30 ISO 11226 - ROM = 90 (yellow = 1/3 of
max, red =2/3 max

View ergonomic feedback in the HUD:

• On the hand controller, access the Vive Body Tracking submenu and click Show/Hide Ergonomic
Warnings.

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Ergonomic feedback in Virtual Reality

The ergonomic icon is displayed in the headset view.

Now, for movements that cause the human model moderate exertion, Process Simulate circles the icon
in yellow and indicates the exerted body parts in yellow.

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 Ergonomic feedback in Virtual Reality

In this example, the human model is leaning and stretching, resulting in exertion of its shoulder and
neck regions.

More significant exertion circles the icon in red and the exerted body parts are indicated in red.

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Ergonomic feedback in Virtual Reality

Real-time Ergonomic highlighting:

On the hand controller, access the Simulation submenu and click Show/Hide Ergonomic Warnings.

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 Virtual Reality Configuration

Virtual Reality Configuration

Background Scenes

You can select a background scene in which to display the data in your Virtual Reality session.

Studio

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Background Scenes

Industrial

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 Background Scenes

None

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Background Scenes

1. Choose View tab → Virtual Reality group → VR Configuration and click the Background Scenes
tab.

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 Ergonomic highlighting

2. Select the desired background scene.

3. Click OK.

Ergonomic highlighting

When displaying ergonomic feedback in Virtual Reality,

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 You may be interested in the postural details of a particular joint. Two ranges of posture highlighting can
be set using the VR Configuration command.

Procedure

1. Choose View tab → Virtual Reality group → VR Configuration and click the Ergonomic
Highlighting tab.

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 2. Each body joint is listed with all its possible movement axes. For each axis, proceed as follows:
• To flag joints in Virtual Reality with yellow highlighting, check the left-most Angle checkbox and
set a value in the degrees cell to its right.

Note
Yellow highlighting is often used to identify moderate posture deviations.

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Customizing the virtual reality environment

• To flag joints in Virtual Reality with red highlighting, check, the right-most Angle checkbox and set
a value in the degrees cell to its right.

Note
Red highlighting is often used to identify more severe posture deviations.

• Clear the Highlighting Active checkbox if you wish to turn off ergonomic highlighting.

Note
You can also turn off ergonomic highlighting when immersed in Virtual Reality via the body
tracking menu.

3. You can click Reset to undo the changes you made in the dialog box.
4. Click OK to save the new values.

Customizing the virtual reality environment

The SceneConfiguration.xml virtual reality configuration file located at \Program

files\Tecnomatix_<version>\eMPower\VR\Config enables you to configure many aspects of the virtual
reality experience.

<?xml version="1.0" encoding="UTF-8"?>

<SceneConfiguration>

CollaborationRoot—enables you to specify a folder for sharing PSVRC collaboration data files. Refer to
Collaboration over Virtual Reality.

Teleport behavior—when the Virtual Reality scene contains very tall objects, you can use this setting to
extend the teleport arc to support this.

<!-- Teleport tool customization -->

<Teleport>
<!-- Duration determines the Teleport Arc length (seconds). A larger
duration increases the Arc length, and requires a larger Speed value (see
below). -->
<Duration> 3 </Duration>
<!-- Speed determines the Segment length (seconds). A Segment is a part of
the Teleport Arc. Should be increased when duration value is increased. See
below -->
<Speed> 2 </Speed>
<!-- Recommended configurations (Duration - Speed values) Default: Duration
= 3 and Speed = 2. For big data: Duration = 15 and Speed = 7. -->
</Teleport>

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 Customizing the virtual reality environment

Laser—This setting controls the maximum length of the laser tool.

<!-- Laser tools customization -->

<Laser>
<!-- Highlight customization -->
<Selection>

<!-- The maximum distance that the ray can reach (meters) -->
<MaxLength> 100 </MaxLength></Selection></Laser>

Floor area—This setting controls the size of the floor that is automatically added.

<!-- Floor area customization (usually the floor it is a square - the X and
the Z values are equal) -->
<Floor>
<!-- Floor length on X axis (meters) -->
<ScaleX> 5000 </ScaleX>
<!-- Floor length on Z axis (meters) -->
<ScaleZ> 5000 </ScaleZ></Floor>

Location—This setting specifies whether to load locations and whether the locations are scaled to appear
bigger.

<LocationConfig><Enabled>true</Enabled><Scale>1.0</Scale></LocationConfig>

Export Objects—This setting specifies whether to reduce the level of detail when exporting data to Virtual
Reality.

<ExportObjectsConfig>
<!-- LOD: HIGH = 0, MEDIUM = 1, LOW = 2 -->
<LOD>0</LOD></ExportObjectsConfig>

Maximum Points For Point Cloud—This setting specifies whether to reduce the point cloud density by
defining the maximum number of points for a point cloud in Virtual Reality.

<MaxPointsForPointCloud>
<!-- Maximal number of points to export, per pointcloud. -->
<!-- It can be a numerical value or ALL - to export all points -->
<MaxPoints>20000000</MaxPoints></MaxPointsForPointCloud></
SceneConfiguration>

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Troubleshooting Virtual Reality collaboration connection problems

Troubleshooting Virtual Reality collaboration connection problems

If you are experiencing problems when trying to establish a Virtual Reality connection, try some of the
following:

• Version compatibility
Guests must have the same version of Virtual Reality installed as that of the host. The correct version is
launched to match the host version. If there is a mismatch, an error message is inserted in the log file.
• Check logs
Virtual Reality logs are located at C:\Users\<username>\AppData\LocalLow\Siemens PLM\Process
Simulate Virtual Reality. If you find error messages in the logs, send them to Siemens RND or open a PR
and attach them.
• Verify port configurations
◦ By default, Process Simulate Virtual Reality uses TCP port 443. Ensure that this port is available on
your host and guest machines. You can change the port by editing the NetworkConfiguration.xml
file in the <Tecnomatix Install Folder>\eMPower\VR\Config folder.
◦ In addition, TCP port 21 is used to transfer the scene data and state from the host to collaboration
guests. This port should also be available on host and guest machines.
• Same network or domain
Make sure both host and guest computers are on same network or domain. You can verify this by
pinging the IP address of the host from the guest.
• Packet size
Try reducing the size of data packets sent by the the Process Simulate Virtual Reality application.
Open the NetworkConfiguration.xml file from <installation folder>\eMPower\VR\Config\,
uncomment the Packet size node and try reducing the value gradually from 1470 to 1300.
• Firewall
To check if firewall settings are blocking the connection, temporarily deactivate the firewall and try
again. If you have ascertained that the firewall is the cause of the problem, request your IT department
to configure it correctly.

Note
It may be necessary to create incoming rules on the firewall of the host machine for the following
applications:
◦ C:\program files\<tecnomatix_version>\empower\vr\psonvr.exe
◦ C:\program files\<tecnomatix_version>\empower\vr\psvrftphandler.exe

• Clean Temp —Empty the temp folder when no Virtual Reality session is running:
◦ Delete the SceneFilesDirectory folder. This is created and stored under %temp% during file transfer
and deleted when exiting Virtual Reality. If the last session was not closed properly and this directory
still exists, it may prevent a new session from loading successfully.

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 ◦ If there is no active session, check to see if the PSVRFTPService is running. If this is the case, kill it
before trying again.
◦ Make sure that both the host and the guest have read-write permissions for the %temp% folder.
• Other tests
◦ Try loading very small data (just one object).
◦ Try connecting from a different machine, or reverse the host and guest. Sometimes there are issues
with a specific computer configuration, for example, two IP addresses that are causing confusion.

Augmented reality
Process Simulate Augmented Reality (PSAR) is a plugin for Siemens Process Simulate, powered by SkillReal.

PSAR is a highly accurate engineering tool that allows users to superimpose an image of a real-world object
on top its 3D model in order to make accurate measurements. Users can inspect manufacturing features,
making sure inspected products are manufactured according to specification and within tolerance.

You can also report and export measurements taken in Process Simulate Augmented Reality back to
Process Simulate for further offline work and corrections using the Digital Twin in Process Simulate.

PSAR reduces ramp up times and lowers product scrapping rates, creating costs savings and improve
product quality.

Refer to the user guide to help you set up and get started quickly and easily.

Omniverse
The Connector for Omniverse command enables you to view and simulate Process Simulate studies in the
NVIDIA Omniverse software package. Omniverse provides a realistic visualization of the data.

To connect to Omniverse:

1. Purchase a Process Simulate license for the Connector for Omniverse command at one of the
following levels:
• Live Connect—This is a duplex connection between Process Simulate and Omniverse which
run simultaneously. Communications between the systems are fully synchronized. Running a
simulation or moving objects in either environment is reflected immediately in the other. Changes
can be saved in either environment.
• Export Mode—This is a one-way export of the Process Simulate data to Omniverse. The study can
be opened and viewed in Omniverse. Simulation is not possible in Omniverse, and changes made
in Omniverse are not reflected in Process Simulate.

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Configure Omniverse

• Export Simulation—This is a one-way export of the Process Simulate data plus simulations to
Omniverse. The study can be opened and simulated in Omniverse. Changes made in Omniverse
are not reflected in Process Simulate.

Note
If exporting a Line Simulation simulation in Export Simulation mode, ensure it can run without
user input.

2. Download the Process Simulate Connector for Omniverse add-on from the Siemens Support Center
and install it.
3. Install the nVidia Omniverse free version and register it.
4. Configure the Omniverse environment.
5. Launch Connector for Omniverse.

Configure Omniverse

1. Launch Omniverse.

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 Configure Omniverse

2. Access the Exchange tab.

3. Click the Create tile.

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Configure Omniverse

4. Click the Install button.

5. Access the Nucleus tab.

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 Configure Omniverse

6. Create a local Nucleus server and configure its login credentials, or connect to an existing one.

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Launch Connector for Omniverse

Launch Connector for Omniverse

1. In Process Simulate, choose View tab → Omniverse group → Connector for Omniverse

.
The Connector for Omniverse dialog box appears.

2. Click Add New Connection to connect to the Omniverse Nucleus server you defined.
The Add New Connection dialog box appears.

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 Launch Connector for Omniverse

3. Enter a Server Name, for example, localhost.

4. Optionally, enter a server Description.
5. Click OK.
The new server appears.

6. Expand the new node (localhost).

The login screen to your Nucleus server opens in a default browser.

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Launch Connector for Omniverse

7. Enter the login credentials.

8. Access the Omniverse Exchange tab and click Launch.

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 Launch Connector for Omniverse

Omniverse loads information for RTX graphics.

9. If this takes too long, click Renderer in the top left corner of the Omniverse window.

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Launch Connector for Omniverse

10. Select Pixar Storm.

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 Launch Connector for Omniverse

Note
The graphic visualization when using Pixar Storm is not quite as good as with RTX.

When loading is complete, Omniverse opens without any data.

11. In Process Simulate, right-click the Library, and select Set System root.

12. Enter a File name for your Omniverse project.

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Launch Connector for Omniverse

13. Click Live Connect, or Export Scene, or Export Simulation (depending on your license).
The following display indicates that Process Simulate and Omniverse are connected.

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 Launch Connector for Omniverse

14. Switch to Omniverse, expand the localhost node, select the Library, and double-click the USD file.

The following figures show Process Simulate and Omniverse connected to each other.

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Launch Connector for Omniverse

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 Set Modeling Scope

7. Modeling
Set Modeling Scope
This video demonstrates how to model and position objects:

Note
Videos are not included in PDF. To access videos, use HTML.

This video demonstrates how to insert and create objects:

Note
Videos are not included in PDF. To access videos, use HTML.

The Set Modeling Scope command enables you to activate the Modeling scope. This loads the COJT file of
the selected component and opens it for modeling (if it is not locked) and sets it as the active component.

Set Modeling Scope supports multiple selection of components. In this case, the last selected component
becomes the active one.

When there are several components in modeling scope, you can set the active component using the
Change Scope drop down list.

Modeling Components

In order to model a component, for example, to add entities or modify entities within the component,
you must activate Modeling scope. Select a component and choose Modeling tab → Scope group → Set

Modeling Scope to activate Modeling scope and modify the selected component, as required.

A new icon overlay displays to indicate that an object is currently under modeling.

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Set Modeling Scope

Note
It is possible that a parent entity is open for modeling but has a child entity that cannot be modeled, for
example, a super component.

If you have not completed modeling, you can save your work in Teamcenter (refer to Teamcenter Update).
In this case, the default configuration causes modeling changes of the unfinished component (known as
a local component) to be ignored in Teamcenter. Additionally, the revision remains unchanged. However,
when you open the component again in Process Simulate, your latest work is available and you may
resume modeling.

Note
The Teamcenter Portal Viewer displays 3D data sets with the following attributes: role=Iman_rendering
and type=DirectModel. If you configure Process Simulate to persist modeling changes in a data set
with these attributes, your latest modeling changes are always visible in Teamcenter. If, however, you
configure Process Simulate to persist modeling changes in a data set with the following attributes:
role=Iman_references and type=TMX3DRep, the Teamcenter Portal Viewer shows the state of the object
before modeling, while Process Simulate shows the latest modeling changes.

When you are satisfied with the results of your modeling session, use the End Modeling
commandfollowed by Teamcenter Update to update Teamcenter. The new data now persists in Teamcenter
and its revision is updated.

Note
If you are not in Modeling scope, many of the options in the Modeling tab are disabled.

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 End Modeling

Modeling scope remains activated until you run the End Modeling command.

It is possible to model more than one instance of the same prototype concurrently. In this case, the last
instance copied back to Teamcenter is the one that updates the item revision (a race condition). This
feature enables you to make temporary changes before deciding which item to accept.

The following nodes cannot be modified:

• Components that use a .CO file

• Compounds
• Parts
• Released item revisions
• There are two types of geometry in JT files: XTBRep and JTBrep. Process Simulate provides full support
for XTBRep, however, it only provides limited support for JTBrep. You can open JTBrep components for
modeling in Process Simulate and it is possible to perform kinematic modeling. It is not possible to
perform geometric modeling on existing JTBrep geometry, however, new geometry can be created and
modeled.

Note
Only JTs in the XTBRep format support projecting weld points on exact geometry. See Project Weld
Points.

• If you inserted a component created using a third-party program, you can use Set Modeling Scope
to view frames stored in the PMI section of the JT file. Performing End Modeling stores the frame
information in the same way as a component originally created using Process Simulate.

Note
• Process Simulate takes into account the access permissions in Teamcenter before allowing modeling
of objects.
• It is not necessary to end your modeling session before closing Process Simulate. In this case, objects
remain open for modeling the next time you open Process Simulate.
• When using End Modeling, the system updates all the instances linked to that component.
• You can configure Teamcenter to block modeling changes to released items. This situation occurs
when an item has been released in Teamcenter while opened for modeling - Process Simulate displays
an error message when you run Teamcenter Update.

End Modeling

The End Modeling command enables you to apply modeling changes to the item revision in
Teamcenter. It is possible to save data either on the Plant or Process structures.

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End Modeling

When you end the modeling session, you can choose to load the modeled component in United
Representation or Detailed level. The dialog box enables you to preserve referenced entities (for example
used in collision sets and simulation events) that have not yet been defined as “preserved”. Otherwise the
references will be removed.

Note
• If you set object display to Transparent and then set end modeling, this overrides its prototype color,
which you can only revert by using the Modify Color command.
• When you update a component using Set Modeling Scope, the system also updates all the instances
linked to that component.
• You do not have to end your modeling session before closing Process Simulate. If you close Process
Simulate while items are open for modeling, they remain in this state when you open Process
Simulate on the next occasion.
• If you do not wish to update the original component with your modifications, rather you wish
to create an alternative, complete the desired modeling steps and do not run the End Modeling
command.
• You cannot perform Teamcenter Update on a released item. This situation can occur if an item has
been released in Teamcenter while you have it opened for modeling. If you try to do this because you
are unaware of this circumstance, Process Simulate displays an error message.
• If you inserted a component created using a third-party program, you can use Set Modeling Scope
to view frames stored in the PMI section of the JT file. Performing End Modeling stores the frame
information in the same way as a component originally created using Process Simulate.

To end a modeling session:

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 End Modeling

1. Choose Modeling tab → Scope group → End Modeling .

The End Modeling dialog box appears.

2. Check one of the following options in order to apply your modeling changes. The system saves the JT
file in a dataset.

Note
In case of Compound Kinematics, the system also saves kinematics and tool definition XML files in
two additional datasets.

• Update Item Revision with modeling changes – Closes the modeling session and removes the
overlay. When you launch Teamcenter Update, select Plant to upload the latest changes to the
Teamcenter MPP Plant tab. The item revision of the modeled resource is updated. This option is
not available for parts (which can only be changed in Teamcenter but not in Process Simulate) or
for resources (because their Item Revision is locked in Teamcenter).
• Add modeling changes as optional datasets attached to process – Adds your modeling changes
as optional datasets to the Teamcenter MPP Process tab. Select the process to which to attach the
datasets from the dropdown list. To view the files attached to a process, refer to Attach File. When
you launch Teamcenter Update, select Process to upload the latest changes to the Teamcenter
MPP Process structure.
This option is useful if you do not have permission to make changes to the Teamcenter MPP Plant
structure. In this case, save your data under the desired process and notify the relevant person who
can copy the data to the Plant structure. When performing this copy operation, it is important to
retain the Relation settings. If these change, the system may not recognize the files correctly.
If you select this option, the resource remains open for modeling and still appears. If you wish to
exit the modeling scope, click Reload original modeling configuration.
• Reload original modeling configuration – Discards the current modeling changes and reloads the
stored modeling configuration from Teamcenter.
3. Click OK.

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Set Working Frame

Set Working Frame

Use Set Working Frame to customize a working frame of reference for a scene. The working frame is
the location at which the X, Y, and Z coordinates are defined as 0. All coordinate values in the scene are
displayed in relation to the working frame. By default, the working frame for each scene is equivalent to
the global frame.

Changing the working frame of a scene affects commands and viewers that refer to coordinates, locations,
and rotations. For example, the coordinate values entered for placement commands and manipulators
refer to the working frame.

Configuring a working frame can simplify the display of the coordinates in a process. For example, for a
wheel assembly process, you can define the center of the wheel as the working frame. The coordinates for
all parts and resources included in the assembly are displayed in relation to the center of the wheel.

Customizing a scene's working frame does not alter the positions of objects in the database. The working
frame is only a working tool used to display positions in relation to a customized frame of reference. If the
working frame differs from the global frame, moving an object along the x-axis of the working frame does
the following:

• Moves the object in the desired direction (graphically) in the scene.

• Calculates the projection of the movement in relation to the global frame.
• Updates the database with the calculated projection of the object movement in relation to the global
frame.

To configure a working frame for a scene:

1. Choose Modeling tab → Scope group → Set Working Frame .

The Set Working Frame dialog box appears.

2. Do one of the following:

• Select Reset to Origin to reset the working frame to the global frame.

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 Set Self Frame

or

• Click the dropdown arrow at the right of the Frame of Reference button and specify a
location using one of the standard frame specification methods. (Refer to Create Frame options.)
or
• Click in the Graphic Viewer at the desired location for the working frame.
3. Click OK.
The working frame is configured according to your input and the Set Working Frame dialog box
closes.

Set Self Frame

The Set Self Frame command enables you to move the self frame of a component. For example, if you
have modeled a gun and wish to use its new geometry to create a family of guns wherein all the guns
differ in shank length, you can extend the gun length and redefine the gun’s self frame to align with its
TCP. This facilitates placing the gun or robot at the desired location.

Procedure

1. Select a component and open it for modeling (refer to Set Modeling Scope).If Display Self Frame is
set in Graph Viewer tab, the selected component is displayed together with its self frame.

2. Choose Modeling tab → Scope group → Set Self Frame .

The Set Self Frame dialog box appears.

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 The name of the component is listed in the Objects list.
3. The To frame field is automatically activated; pick a target frame for the self frame in the Graphic

Viewer or Object Viewer, or click and create a new frame as described in Create Frames.
A yellow line appears in the Graphic Viewer between the current self frame and the desired location.

4. Perform any of the following optional actions:

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 Reload Component

• By default, the source of the self frame is Self. If necessary, set From frame to Geometric center
or Working frame.
• Set Maintain orientation to ensure the self frame maintains its orientation at the target location.
If you do not set this option, the self frame will adopt the orientation of the target frame.
• Set Translate only to limit translation of the self frame to a single axis. Select X, Y, or Z so that the
self frame matches only the X, Y, or Z-axis position of the target.
5. Click Apply to move the self frame to the target location.

6. Click Flip if you wish to flip the orientation of the self frame in the Z-axis.

7. Click Close to exit the Set Self Frame dialog box.

Reload Component

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 After loading a component to Process Simulate on Teamcenter and modeling its 3D geometry, the Reload
Component command enables you to revert to the component geometry as it was before the modeling
changes.

Note
Reload Component deletes any references to entities that were not already defined as preserved.

The Reload Component command reloads a component's initial 3D geometry as it exists in the
library (before beginning the current modeling session). This command does not reset other types
of modifications that you made, such as renaming the component, assigning it to operations, adding
properties, etc. You can use Reload Component as long as End Modeling has not been invoked to
terminate the modeling session and save the modified component back to the library.

Procedure

1. Select the component and choose Modeling tab → Scope group → Reload Component .
The following message is displayed.

2. Click Yes to remove the 3D geometric changes you made in the current modeling session.Reload
Component also removes all references to entities that were not defined as preserved. Other
modifications (name, operation assignments, location, properties, etc.) are not reset.

Set/Replace JT

This video demonstrates use of the Set/Replace JT command.

Note
Videos are not included in PDF. To access videos, use HTML.

You can use the Set/Replace JT command to add a JT file to a resource that does not yet have a JT. You can
also use it to update a resource's JT file when design changes implemented outside of Process Simulate on
Teamcenter are not yet updated to Teamcenter.

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 To set a JT:

Use the Set/Replace JT command for a resource instance (single component), or a sub-component under
equipment.

To set a JT:

Procedure

1. Pick the resource to which you wish to add a JT file (only a resource that currently has no JT file
allocated to it) and run Set Modeling Scope.

2. Choose Modeling tab → Components group → Set/Replace JT .

3. In Set JT, navigate to the JT file you wish to add.

4. Click Set.The system adds the JT to the resource and displays it in the Graphic Viewer.

Note
If the resource is not in modeling scope, the system reloads the study (and prompts you to save any
changes).

To replace a JT:

Note
If the resource is in modeling scope, you cannot replace its JT. In this case, the Set/Replace JT command
is inactive.

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 Procedure

1. Pick the resource whose JT file you wish to replace and choose Modeling tab → Components group

→ Set/Replace JT .

Note
The Occurrences list displays the names of all the occurrences of the selected resource. When you
replace the JT file, all these occurrences are updated because they are derived from that JT file.

The JT file from which the selected resource is derived is displayed in Current JT.
2. In Replace with, navigate to the new JT file.
3. Click Replace.The resource is updated and displayed in the Graphic Viewer.
4. Perform all the necessary replacements. If prompted to save changes in the study, click Yes. The
system reloads the study with the new JT file for the resource.

Note
The replaced JT is saved next time you save the disconnected study (or update the connected study to
Teamcenter).

Point cloud
A point cloud is a set of data points representing a 3D system, typically created by a 3D scanner. The points
in the point cloud represent the external surface of a scanned three-dimensional object.

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 Point cloud

All users can load and view data that includes a point cloud. However, to insert or edit a point cloud, you
must purchase an additional license.

Using a 3D scanner, it is possible to scan complex objects (for example, a manufacturing plant), create a
3D model of the scanned object, and store the result as a point cloud file. You can then import the point
cloud in POD format into Process Simulate (if necessary, convert it first to POD format) and, like any other
object, it can be displayed in the Graphic Viewer and Object Viewer.

This video demonstrates basic use of point clouds.

Note
Videos are not included in PDF. To access videos, use HTML.

This video demonstrates using point cloud layers.

Note
Videos are not included in PDF. To access videos, use HTML.

• A point cloud is a single object.

• You can divide the point cloud into layers for added flexibility. For example, you might wish to move
each work station to a separate layer; this would enable you to display some work stations and blank
others. Refer to Managing Point Clouds.

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Point cloud

• Point cloud files typically contain very large amounts of data. However, you can still continue working in
Process Simulate while the point cloud file loads due to the smart memory management algorithm. This
oversees memory consumption and optimally loads point cloud data according to the point of view set
by the user.
• You can use all the Sections tools on point clouds.
• You must configure a system root for the point cloud. For more information, refer to the Point Cloud
options in the Components tab.
• To achieve your preferred shading effect, you can modify the Point Cloud Shading setting in the Point
Clouds option of the Appearance Tab.
• You can increase the point size (in the Appearance Tab) which can help to improve the visibility of the
point cloud.
• Point Cloud integration is not supported on virtual machines or when working in the Citrix environment.
• You can perform collision checks between point clouds/point cloud layers and other objects.

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 Insert point cloud

◦ There are some limitations when performing collision checking:

◊ Collision pairs cannot be checked for point clouds/point cloud layers with point clouds/point cloud
layers.
◊ The All displayed objects option in the Collision Viewer does not display collisions for point clouds/
point cloud layers.
◊ The Collision Viewer does not display colliding contours of point clouds and point cloud layers.
◊ Fast collision is deactivated if all objects for collision detection are point clouds/point cloud layers.
◊ The Violation value is not calculated for pairs that contains point clouds/point cloud layers.

Using a point cloud is advantageous for planning engineers because:

• Scanning technology enables you to plan the manufacturing station layout based on currently-existing
data, while considering plant structure, existing resources, etc., and avoiding problems. For example,
if you wish to plan the manufacturing process for a new car model, you can use a point cloud that
represents the exact layout of the current manufacturing station as the basis for the new line and make
the necessary modifications, as opposed to providing plans that might be inaccurate or out of date.
Additionally, it is possible to update your scan periodically and maintain your data in Process Simulate,
something which is very difficult to do when using a CAD design of the plant.
• In many cases, the manufacturing floor undergoes constant change. It is a simple process to create a
new point cloud and update the study.

Insert point cloud

Procedure

1. Choose Modeling tab → Components group → Point Cloud → Insert Point Clouds .
The Browse Point Cloud file dialog box appears.

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 2. Select one or more point cloud files (.pod) you wish to open and click Open.
The point cloud begins loading and is displayed in the Object Viewer.

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 Note
If the point cloud does not display clearly, try changing the Shading setting for point clouds in the
Appearance tab.

Relocate point cloud

You can relocate (translate) and rotate point clouds using the Placement Manipulator or Relocate
commands. Select one or more point clouds from the Object Viewer (not in the Graphic Viewer) and
choose Placement Manipulator from the Graphic Viewer toolbar.

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Create point cloud layer

You can transform multiple point clouds as well as point clouds together with parts and resources.

Note
Fast Placement cannot be used to relocate point clouds because it is not possible to select point clouds
in the Graphic Viewer.

Transforming a point cloud relocates all of its layers together with it - point cloud layers cannot be
transformed individually.

Flow operations are not supported for point clouds.

Collisions are detected as points clouds are moved, for point clouds and point cloud layers in collision sets.

Create point cloud layer

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 Procedure

1. Choose Modeling tab → Components group → Point Cloud → Edit Point Cloud .
The Point Cloud is updated in the Object Viewer and a pen is added to its icon to indicate that the
point cloud is in edit mode.

Note
You can only edit one point cloud at a time.

2. Choose Modeling tab → Components group → Point Cloud → Create Point Cloud Layer .A
new layer is nested under the active Point Cloud in the Object Viewer.You can edit the layer’s name
as required.
3. Create more layers as required (up to a maximum of 126 layers).

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 4. To allocate points to layers:

a. Choose Modeling tab → Components group → Point Cloud → Select Rectangle .

The cursor changes to the symbol.

b. Drag the cursor over the points you wish to allocate to a particular layer.

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 When you release the mouse button, the selected cloud points are displayed in orange.

Note
• Any point can only be associated with one point cloud layer.
• If you wish to make a multiple selection, press <Ctrl> and drag your mouse over an
additional area of the point cloud.

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 • If you are not satisfied with the selection of cloud points you have made, either click the

Clear Selection icon or drag your mouse over a different area.

c. To aid in making an optimal point selection, you can rotate the data.

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 d. Select the desired point cloud layer in the Object Viewer and click Modeling tab →
Components group → Point Cloud → Move Selected Points to Layer .

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 The display/hide status of the relevant layer changes from undefined (X) to displayed (a shaded
box).

e. Select cloud points for all the layers.

5. Click to exit edit mode.

6. Set the hide/display status of the point cloud layers as needed.

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 Attaching a point cloud to an object

Note
You can also hide and display point cloud layers in edit mode.

Attaching a point cloud to an object

If your data lacks a single item, for example a robot accessory which was not supplied with the robot's CAD
file, it is possible to attach a scanned point cloud of the item to the robot. It is also possible to attach the
robot to a point cloud. To do this, use the Attach command.

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Detecting collisions with a point cloud

Note
If you have a point cloud of a complete manufacturing line, you do not need to attach a point cloud to
an object.

After you attach a point cloud to an object, it is likely that the cloud and the object are stored in different
folders. Typically, the robot is stored in the resources folder and the point cloud in the point clouds folder.
For purposes of collision detection, you can use the Create Group command to group the cloud and the
robot into a logical group and then use this in the collision set.

Detecting collisions with a point cloud

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 You can use a point cloud in a collision set just like any other object. However, if your point cloud is a
complete manufacturing line, you may not be able to gain useful information from the collision results.

To make the collison results useful, you can assign all the points of an object to a dedicated layer and then
test for collision with that layer. For example, to test for collision between the robot and the stand holding
the car door in the following example:

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 Procedure

1. Blank the ribs of the manufacturing line and the door.

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 2. Choose Modeling tab → Components group → Point Cloud → Edit Point Cloud .

3. Choose Modeling tab → Components group → Point Cloud → Create Point Cloud Layer and
name the new layer.
4. View the stand from above.

5. Choose Modeling tab → Components group → Point Cloud → Select Rectangle and select the
points comprising the stand.

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 Note
Selecting points while viewing the stand from above means that points that are not relevant to the
stand are not selected.

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 6. Select the Stand layer in the Object Viewer and click Move Selected Points to Layer .

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 7. Access the Collision Viewer and create a new collision set for the robot and the stand.

8. Use the collision viewer to test for a collision.

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 Fast placement

Fast placement

This video demonstrates how to position objects using the Fast placement, Placement manipulator, and
Relocate commands.

Note
Videos are not included in PDF. To access videos, use HTML.

The Fast Placement tool enables you to move an object or group of objects along the linear X- and Y-axes
only.

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 Procedure

1. Choose GV Toolbar tab → Pick Level group → Component.

2. Choose Modeling tab → Layout group → Fast Placement . The cursor in the Graphic Viewer
changes to a hand .
3. Select and drag an object or group to a new position in the Graphic Viewer, as required.

Note
The X-, Y- and Z-coordinates of the object are displayed under the hand as you drag the object
around in the Graphic Viewer. The Z-coordinate is always zero.

4. When you have finished using the Fast Placement tool, click Select to return the cursor to its
default arrow status.

Tip
Moving objects using the Fast Placement tool can sometimes distort their actual locations because
they are not moved along the Z-axis. To maintain the proper perspective in the Graphic Viewer, it is
recommended to change the View Point to Top. Refer to View Point for more details.

Note
Fast Placement works on entities only when the parent component is in Modeling mode. Otherwise
it works on the component even when an entity is selected.

Restore Position
The Restore Position tool enables you to restore an object or group to its original location relative to its
parent. The original location of an object is the position of the object relative to its parent when its cell is
first loaded. This command operates on parts and resources.

Restoring an object does not restore its child objects to their original locations relative to the restored
object. Any child objects are moved along with the restored object and maintain their relative locations to
the restored object in its new location. If you want to restore the child objects to their original locations
relative to the restored object, you must specifically restore the child objects.

Restoring an object also does not restore its parent object to its original location. The parent object of a
restored object remains in its current location unless you restore the parent object as well.

Note
The Restore Position option is only enabled when an object is selected.

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 Alignment

There is no way to know if an object is currently in its original location. To check if an object is in its
original location, try restoring the object. If it moves, then it was not in its original location. To cancel the
trial, click Undo before performing any other actions.

1. Select one or more objects in the Graphic Viewer or a group in the Object Viewer.
Refer to Selecting Objects in the Graphic Viewer for more information.

2. Choose Modeling group → Layout group → Restore Position .

The selected objects are returned to their original locations relative to their parent objects as when
their cell was first loaded.

Alignment

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Aligning and distributing objects

Aligning and distributing objects

You can align objects either horizontally or vertically, or distribute them evenly along a selected axis.

The Alignment tool includes a popup toolbar of alignment and distribution options with corresponding
buttons, as follows:

Tool Button Description

AlignX Aligns selected objects along the X-axis in a positive direction. Refer to Aligning XYZ.

AlignY Aligns selected objects along the Y-axis in a positive direction. Refer to Aligning XYZ.

AlignZ Aligns selected objects along the Z-axis in a positive direction. Refer to Aligning XYZ.

AlignNegX Aligns selected objects along the X-axis in a negative direction. Refer to Aligning XYZ.

AlignNegY Aligns selected objects along the Y-axis in a negative direction. Refer to Aligning XYZ.

AlignNegZ Aligns selected objects along the Z-axis in a negative direction. Refer to Aligning XYZ.

Distribute X Distributes selected objects equidistant along the X-axis. Refer to Distributing XYZ.

Distribute Y Distributes selected objects equidistant along the Y-axis. Refer to Distributing XYZ.

Distribute Z Distributes selected objects equidistant along the Z-axis. Refer to Distributing XYZ.

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 Aligning XYZ

Aligning XYZ

You can align objects along an axis by selecting the objects and clicking the required alignment option.
Aligning objects is determined by the axis position of the last selected object. When you wish to align
objects, the axis location of the last selected object determines where the objects will be positioned along
the selected axis.

Note
Ensure that Component is displayed as the Pick Level in the Graphic Viewer Toolbar.

The following example illustrates the original linear position of three objects and their aligned positions
after issuing the AlignX command.

Object Name Original Position AlignX Position

Box 1 XYZ = (2, 5, 10) XYZ = (7, 5, 10)
Box 2 XYZ = (3, 2, 5) XYZ = (7, 3, 25)
Box 3 XYZ = (7, 1, 2) XYZ = (7, 1, 2)

Distributing XYZ

You can distribute objects along an axis by selecting the objects and clicking the required distribution
option. Distributing objects is determined by the position values of each of the selected objects. When you
wish to distribute objects, the highest and lowest values of the selected axis are added and then divided by
the number of objects to be distributed to determine where the objects will be positioned along the axis.

Note
Ensure that Component is displayed as the Pick Level in the Graphic Viewer toolbar.

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Duplicate Objects

The following example illustrates the original linear position of three objects and their distributed positions
after issuing the DistributeY command.

Object Name Original Position DistributeY Position

Box 1 XYZ = (2, 5, 10) XYZ = (2, 5, 10)
Box 2 XYZ = (3, 2, 5) XYZ = (3, 3, 25)
Box 3 XYZ = (7, 1, 2) XYZ = (7, 1, 2)

Duplicate Objects

The Duplicate Objects command enables you to duplicate instances of a selected object.

Procedure

1. Select an object either in the Graphic Viewer or the Object Viewer.

2. Choose Modeling tab → Layout group → Duplicate Objects .

The Duplicate dialog box is displayed.

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 Mirror Objects

3. In the Duplicate area, specify the number of instances and along which axis you want the instances
duplicated using the up and down arrows, as follows:
• In the Number along X/Y/Z fields, enter the number of instances required along each axis.
• In the X/Y/Z Spacing fields, enter the distance between the duplicated instances along each axis,
as required.

Tip
You can calculate the spacing required in the X/Y/Z Spacing fields by adding the length of
the selected object together with the distance of the space required between the duplicated
instances.

4. Set Preview if you wish to view the selected object as a transparent bounding box and the duplicated
instance(s) as solids in the Graphic Viewer.
5. Click OK. The duplicated instances of the selected object are displayed in the Graphic Viewer and in
the Object Viewer. Each duplicated instance is displayed as a locked component with _# after the
name of the original selected object.

Mirror Objects

The Mirror Objects command enables you to create mirrored copies of components.

The command requires that you define a component as a target scope under which to create the newly
modeled entities. Alternatively, you can mirror the source objects themselves, in which case a target scope
is not required.

All geometric entities can be mirrored, including:

• Exact solids and surfaces

• Tesselations (approximated entities)
• Curves, including arcs and polylines
• Points
• Kinematics - If the source is a kinematic device, the system mirrors all the kinematic elements of the
device.

The Mirror Objects command maintains all object properties. The names of the mirrored objects are the
same as those of the source objects (if there are no objects with the same name in the target). The
command ignores layers and PMIs.

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 Procedure

1. Select source objects to mirror in the Graphic Viewer or the Object Viewer.

2. Choose Modeling tab → Layout group → Mirror Objects .

The Mirror dialog box is displayed.

The objects you selected in the previous step are listed in the Objects to be mirrored list. You can
add and remove objects any time while the dialog box is open.
When Show preview is checked, a preview of the mirrored objects appears in the Graphic Viewer as
long as the dialog box is open. This may slow down the Mirror dialog box and Graphic Viewer slightly.

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 The mirrored plane is displayed as a transparent light-blue rectangle. The preview is also transparent
and is not represented in the Object Viewer.
3. Use the manipulator (shown when Show manipulator is checked) to adjust the positioning of the
mirror plane.
4. You can use the following tools to further adjust the positioning of the mirror plane.

Button Option Description

Align to X Aligns the mirror plane to the YZ plane of the working frame.

Align to Y Aligns the mirror plane to the XZ plane of the working frame.

Align to Z Aligns the mirror plane to the XY plane of the working frame.

Align to Point Aligns the mirror plane with a selected point.

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 Align to Line Aligns the mirror plane at the center of two points you pick in the
between Two Graphic Viewer.
Points
Align to Origin Aligns the mirror plane with a selected frame. The mirror plane
passes through the base of the frame and is perpendicular to the
Z-axis.
Align to Surface Aligns the mirror plane normal to a selected surface with the origin
of the plane at the picked location.
Align to Edge Aligns the mirror plane perpendicular to the point you pick on a 2D
object. The orientation is set arbitrarily.

Adjust Mirror Adjusts the size of the mirror plane to the bounding box of the
Plane Size selected source objects at the orientation of the mirror plane. Notes
are not considered in the adjusted size.

5. In the Create Copies area, you can choose whether to create mirror copies or to change the existing
objects to mirror copies. Select one of the following:
• Yes. Target scope - Process Simulate creates new mirror objects. In the Object Viewer, select a
scope under which to create the new objects.
• No, mirror existing - Process Simulate models the existing objects and changes them to mirror
copies.

Note

6. Using the Mirror Plane Manipulation area, you can translate or rotate the plane along an axis in
incremental steps, as follows:
a. Select a translation or rotation axis.

b. Click the right arrow or left arrow step button to move the plane by one step - a
predetermined distance or angle.

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 Create Frame

Each click moves the mirror plane in the positive or negative direction of the axis or rotational
angle, according to which arrow you click. The number in the field is the distance the plane has
moved from its origin. You can translate and rotate the mirror plane in six degrees of freedom.
7. You can modify the step size of the translation or rotation by placing your cursor over the Step Size

hyperlink. When its shape changes to , click to open the Step Size dialog box.

8. Modify the Translation step size (in millimeters) or Rotation step size (in degrees) as needed.
9. The Plane location area displays the position of the managed mirror plane:

You can modify this manually by clicking any of the arrows in this area.
10. Click to activate the Keep original frames orientation checkbox to cause mirrored object frames
to retain the same relative orientation (to the object) as the original object frames.Note: Unlike
component frames, which can be controlled using this option, you cannot control the behavior of
self frames — it is hard-coded: If the target scope is empty (no geometry/frames), the mirrored
self frame location is moved relatively to the source self frame while maintaining the orientation.
If there is geometry/frames in the target scope – the self frame of the new mirrored object is
relatively translated and rotated. The target scope is an existing component that already contains
frames/geometry.
11. Click OK. Process Simulate creates mirror objects according to the dialog box settings.

Create Frame

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Create Frame options

Create Frame options

A frame marks the location of future interactions between components, human models, and robots in the
workcell.

Creating frames enables you to design and plan the layout of your workspace. For example, if you are
currently modeling components that you know will be used in a future walk operation, and you also know
what interactions are planned for that operation and where they will take place in the workcell, you can
mark the required locations by creating frames and insert the interactions at the appropriate time.

The Create Frame option includes a popup toolbar of frame options with corresponding buttons, as
follows:

Button Option Description

Frame by 6 Values To create a frame by specifying
both the X-, Y-, and Z-axes and
the rotational X-, Y-, and Z-axes.
Frame by 3 Points To create a frame by specifying
any three points.
Frame by Circle Center To create a frame by specifying
any three points on the
circumference of a circle.
Frame between 2 Points To create a frame by specifying
a distance between two specific
points.

Create frames by choosing Modeling tab → Layout group → Create Frame .

Creating a frame by six values

Creating a frame by six values enables you to specify the exact location of a frame of reference or target
frame by specifying both the X-, Y-, and Z-axes and the rotational X-, Y-, and Z-axes.

Procedure

1. Choose Modeling tab → Layout group → Frame by 6 values .

The Frame by 6 values dialog box is displayed.

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 You can specify the location of a frame by defining its position, its orientation, or both.
2. Click the Position or Orientation buttons if you wish to specify the location of the frame by position
or orientation only.
3. Specify the required location of the frame by clicking the location in the Graphic Viewer. The X-, Y-,
and Z-coordinates are displayed in the Relative Position area.

Note
You can also specify a location by entering the coordinates in the Relative Position area.

4. If required, fine-tune the location of the frame using the up and down arrows in the Relative Position
area to adjust the X-, Y-, and Z-coordinates.
5. Specify the required orientation of the frame using the up and down arrows in the Relative
Orientation area to adjust the Rx-, Ry-, and Rz-coordinates.

Note
The Frame by 6 values dialog box is dynamic. This means that the location of the coordinates
selected are reflected immediately in the Graphic Viewer.

6. When you wish to create a frame relative to another frame in the cell, select the reference frame from
the Reference dropdown list.

Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next to

the Frame of Reference button and specifying the location of the frame using one of the
four methods available.

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Creating a frame by three points

7. Click OK to close the Frame by 6 values dialog box. The new frame is displayed in the Graphic Viewer
and in the Object Viewer with the default name fr#.

Creating a frame by three points

Creating a frame by three points enables you to specify the exact location of a frame of reference or target
frame by specifying any three points. This is useful if you wish to create a frame on a flat plane.

Procedure

1. Choose Modeling tab → Layout group → Frame by 3 points .

The Frame by 3 Points dialog box is displayed.

2. Define a plane by selecting three points in the Graphic Viewer or by specifying the X-, Y-, and
Z-coordinates for three points in the Frame by 3 Points dialog box. The first point determines the
origin of the frame, the second point determines the X axis position and the third point determines
the Z-axis position. The location of the frame is dynamically reflected in the Graphic Viewer.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

3. Click OK to close the Frame by 3 Points dialog box. The new frame is displayed in the Graphic Viewer
and in the Object Viewer with the default name fr#.

Creating a frame by circle center

Creating a frame by circle center enables you to specify the exact location of a frame of reference or
target frame by specifying any three points on the circumference of a circle. The center of the circle is
automatically calculated. This is useful if you wish to create a frame on top of a cylindrical shape.

Procedure

1. Choose Modeling tab → Layout group → Frame by circle center .

The Frame by 3 Point Circle Center dialog box is displayed.

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 Creating a frame between two points

2. Specify three points on the circumference of the circle, by selecting the points in the Graphic Viewer
or by specifying the X-, Y- and Z-axis position for each point in the Frame by 3 Point Circle Center
dialog box. The center point of the circle is defined automatically. The location of the frame is
dynamically reflected in the Graphic Viewer. The orientation of the frame will be such that the Z-axis
will be perpendicular to the plane defined by the three points and the frame's X-axis will be in the
direction of the first point.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

3. Click OK to close the Frame by 3 Point Circle Center dialog box. The new frame is displayed in the
Graphic Viewer and in the Object Viewer with the default name fr#.

Creating a frame between two points

Creating a frame between two points enables you to specify the exact location of a frame of reference or
target frame by specifying a distance between two specific points. This is useful if you wish to create a
frame midway between two points.

Procedure

1. Choose Modeling tab → Layout group → Frame between 2 points .

The Frame Between Two Points dialog box is displayed.

2. Define a segment by selecting two points in the Graphic Viewer or by specifying the coordinates for
two points in the Frame Between Two Points dialog box.

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Create Solids

3. Define the distance between the two specified points at which the frame is created in one of the
following ways:
• Drag the slide bar.
• Manually enter a value in the text box.
• Specify the required distance using the up and down arrows.

Note
By default, the distance is midway between the two specified points.

The location of the frame is dynamically reflected in the Graphic Viewer.

Note
Click to flip the frame in the opposite direction on its Z-axis, if required.

4. Click OK to close the Frame Between Two Points dialog box. The new frame is displayed in the
Graphic Viewer and in the Object Viewer with the default name fr#.

Create Solids

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 3D solids creation options

3D solids creation options

The Create Solids command enables you to create three-dimensional objects within a component. You
can create the following basic solids:

Button Suboption Description

Box Creation Enables you to create a box-shaped object. Refer to Creating boxes by
measurement.
Cylinder Creation Enables you to create a cylinder-shaped object. Refer to Create cylinders
by measurement.
Cone Creation Enables you to create a cone-shaped object. Refer to Creating cones by
measurement.
Sphere Creation Enables you to create a sphere-shaped object. Refer to Creating spheres
by measurement.
Torus Creation Enables you to create a torus-shaped object. Refer to Creating tori by
measurement.

Once 3D objects have been created, you can combine the objects into various shapes using the following
operations:

Button Suboption Description

Extrude The Extrude option enables you to expand a planar (curve or surface)
object into a 3D object. The points of the 2D object must be in the same
plane. Refer to Extrude.
Revolute The Revolute option enables you to revolve a line (2D object) around a
selected axis and create a 3D object. Refer to Revolute.
Scale The Scale option enables you to change the size of a 3D object in all
dimensions. Refer to Scale.
Scale Object The Scale Object Between Points option enables you to modify the
Between Points dimensions of a selected object using a bounding box. Refer to Scale
object between points.
Unite Solids The Unite Solids option enables you to unite two 3D objects to create a
new object. Refer to Unite Solids.
Subtract Solids Enables you to subtract the volume of one 3D object from another 3D
object. Refer to Subtract Solids.
Intersect Solids Enables you to extract the intersected segment of joined 3D objects.
Refer to Intersecting Solids.

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Creating Boxes

Note
These commands only work on exact geometries. For information on how Process Simulate identifies
exact geometries, see Explode Geometries.

Note
Modeling mode must be activated to create 3D objects. Refer to Set Modeling Scope.

Creating Boxes

Creating boxes by measurement

The following procedure describes how to create boxes by specifying size measurements.

Procedure

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling model, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Box Creation → Create a box .
A box is displayed on the world frame and the Create Box dialog box is displayed.

3. In the Name field, enter a name for the box that you wish to create. By default, boxes are named
box#.
4. In the Dimensions area, modify the length, width, and height of the box in the relevant fields using
the up and down arrows.

5. To specify the location of the box, click Expand .

The Create Box dialog box is expanded.

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 6. Specify a location for the box in the Location area, as follows:
• From the Reference on object dropdown list, select a reference frame for the box. The selected
frame is used as a reference when locating the box.

Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next

to the Frame of Reference button and specifying the location of the frame using one of
the four methods available. Refer to Create Frame options for more details.

• Select the target frame on which to position the reference frame selected for the box by selecting
from the Locate at dropdown list or clicking in the Locate at field and selecting the target frame
in the Graphic Viewer. The box moves to the selected location with the selected reference frame
located on the selected target frame.

Note
If you selected a target frame from the dropdown list, you can create a temporary alternative
frame of reference by clicking the dropdown arrow next to the Frame of Reference button

and specifying the location of the frame using one of the four methods available. If
you selected a target frame in the Graphic Viewer, you can modify its position by clicking the

dropdown arrow next to the Frame of Reference button and specifying the new location
of the frame using one of the four methods available.

• Select Maintain Orientation to move the box the linear distance from the reference frame to the
target frame without changing its orientation. If you do not select this checkbox, the object adopts
the orientation of the target frame (selected in the Locate at field).
7. Click OK.
The box is created and displayed in the Graphic Viewer and in the Object Viewer under the selected
component. A sample of a 3D box is shown below:

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 Move and manipulate the box by selecting Entity in the Pick Level dropdown list and using the Placement
Manipulator or the Fast Placement tool, for example.

Creating boxes by selecting points

The following procedure describes how to create boxes by selecting specific points.

Procedure

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Box Creation → Create a box point to point
.
A box is displayed on the world frame, the cursor changes to and the Create Box dialog box is
displayed.

3. In the Name field, enter a name for the box that you wish to create. By default, boxes are named
box#.
4. In the Graphic Viewer, click the location for the first point (First Corner). The coordinates of the
selected point are displayed in the First Corner fields and the box moves to the location of the
selected point.
5. In the Graphic Viewer, click the location for the second point (Second).
The coordinates of the selected point are displayed in the Second fields and the box is positioned
between the two selected points.

Note
You can modify the position of the box by modifying the coordinates in the First Corner and
Second fields.

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 6. In the Dimensions area, modify the length, width, and height of the box in the relevant fields, if
required.
7. Click OK. The box is created and displayed in the Object Viewer under the selected component.

Move and manipulate the box by selecting Entity in the Pick Level dropdown list and using the Placement
Manipulator or the Fast Placement tool, for example.

Creating Cylinders

Create cylinders by measurement

Procedure

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Cylinder Creation → Create a cylinder .
A cylinder is displayed on the world frame and the Create Cylinder dialog box is displayed.

3. In the Name field, enter a name for the cylinder that you wish to create.

Note
By default, cylinders are named cylinder#.

4. In the Dimensions area, modify the radius and height of the cylinder in the relevant fields using the
up and down arrows.

5. To specify the location of the cylinder, click Expand .

The Create Cylinder dialog box is expanded.

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 6. Specify a location for the cylinder in the Location area, as follows:
• From the Reference on object dropdown list, select a reference frame for the cylinder. The
selected frame is used as a reference when locating the cylinder.

Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next

to the Frame of Reference button and specifying the location of the frame using one of
the four methods available. Refer to Create Frame options for more details.

• Select the target frame on which to position the reference frame selected for the cylinder by
selecting from the Locate at dropdown list or clicking in the Locate at field and selecting the
target frame in the Graphic Viewer. The cylinder moves to the selected location with the selected
reference frame located on the selected target frame.

Note
If you selected a target frame from the dropdown list, you can create a temporary alternative
frame of reference by clicking the dropdown arrow next to the Frame of Reference button

and specifying the location of the frame using one of the four methods available. If
you selected a target frame in the Graphic Viewer, you can modify its position by clicking the

dropdown arrow next to the Frame of Reference button and specifying the new location
of the frame using one of the four methods available.

• Select Maintain Orientation to move the cylinder the linear distance from the reference frame to
the target frame without changing its orientation. If you do not select this checkbox, the object will
adopt the orientation of the target frame (selected in the Locate at field).
7. Click OK.
The cylinder (shown in the sample below) is created and displayed in the Graphic Viewer and in the
Object Viewer under the selected component.

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 Create cylinders by selecting points

8. Move and manipulate the cylinder by selecting Entity in the Pick Level dropdown list and using the
Placement Manipulator or the Fast Placement tool, for example.

Create cylinders by selecting points

Procedure

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Cylinder Creation → Create a cylinder point
to point .
A cylinder is displayed on the world frame, the cursor changes to and the Create Cylinder dialog
box is displayed.

3. In the Name field, enter a name for the cylinder you wish to create. By default, cylinders are named
cylinder#.
4. In the Graphic Viewer, click the location for the center of the cylinder's base (Origin). The coordinates
of the selected point are displayed in the Origin fields and the cylinder moves to the location of the
selected point.
5. In the Graphic Viewer, click the location for the center of the cylinder's top (End).
The coordinates of the selected point are displayed in the End fields and the cylinder is positioned
between the two selected points.

Note
You can modify the position of the cylinder by modifying the coordinates in the Origin and End
fields.

6. In the Dimensions area, modify the radius and height of the cylinder in the relevant fields, if
required.

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 7. Click OK. The cylinder is created and displayed in the Object Viewer under the selected component.

You can move and manipulate the cylinder by selecting Entity in the Pick Level dropdown list, and using
the Placement Manipulator or the Fast Placement tool, for example.

Creating Cones

Creating cones by measurement

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Cone Creation → Create a cone .
A cone is displayed on the world frame and the Create Cone dialog box is displayed:

3. In the Name field, enter a name for the cone that you wish to create. By default, cones are named
cone#.
4. In the Dimensions area, modify the radius and height of the cone in the relevant fields by using the
up and down arrows.

5. To specify the location of the cone, click Expand .

The Create Cone dialog box is expanded.

6. Specify a location for the cone in the Location area, as follows:

• From the Reference on object dropdown list, select a reference frame for the cone. The selected
frame is used as a reference when locating the cone.

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 Creating cones by selecting points

Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next

to the Frame of Reference button and specifying the location of the frame using one of
the four methods available. Refer to Create Frame options for more details.

• Select the target frame on which to position the reference frame selected for the cone by selecting
from the Locate at dropdown list or clicking in the Locate at field and selecting the target frame
in the Graphic Viewer. The cone moves to the selected location with the selected reference frame
located on the selected target frame.

Note
If you selected a target frame from the dropdown list, you can create a temporary alternative
frame of reference by clicking the dropdown arrow next to the Frame of Reference button

and specifying the location of the frame using one of the four methods available. If
you selected a target frame in the Graphic Viewer, you can modify its position by clicking the

dropdown arrow next to the Frame of Reference button and specifying the new location
of the frame using one of the four methods available.

• Select Maintain Orientation to move the cone the linear distance from the reference frame to the
target frame without changing its orientation.
If you do not select this checkbox, the object will adopt the orientation of the target frame
(selected in the Locate at field).
7. Click OK.
The cone (shown in the sample below) is created and displayed in the Graphic Viewer and in the
Object Viewer under the selected component.

You can move and manipulate the cone by selecting Entity in the Pick Level dropdown list, and using the
Placement Manipulator tool, for example.

Creating cones by selecting points

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Cone Creation → Create a cone point to
point .

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Creating Spheres

A cone is displayed on the world frame, the cursor changes to and the Create Cone dialog box is
displayed.

3. In the Name field, enter a name for the cone that you wish to create. By default, cones are named
cone#.
4. In the Graphic Viewer, click the location for the center of the cone's base (Origin).
The coordinates of the selected point are displayed in the Origin fields and the cone moves to the
location of the selected point.
5. In the Graphic Viewer, click the location for the tip of the cone (End).
The coordinates of the selected point are displayed in the End fields and the cone is positioned
between the two selected points.

Note
You can modify the position of the cone by modifying the coordinates in the Origin and End fields.

6. In the Dimensions area, modify the radius and height of the cone in the relevant fields, if required.
7. Click OK.
The cone is created and displayed in the Object Viewer under the selected component.

You can move and manipulate the cone by selecting Entity in the Pick Level dropdown list, and using the
Placement Manipulator tool, for example.

Creating Spheres

Creating spheres by measurement

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Sphere Creation → Create a sphere .
A sphere is displayed on the world frame and the Create Sphere dialog box is displayed.

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 Creating spheres by measurement

3. In the Name field, enter a name for the sphere that you wish to create.

Note
By default, spheres are named sphere#.

4. In the Dimensions area, modify the radius of the sphere in the relevant field by using the up and
down arrows.
5. To specify the location of the sphere, click Expand.
The Create Sphere dialog box is expanded.

6. Specify a location for the sphere in the Location area, as follows:

• From the Reference on object dropdown list, select a reference frame for the sphere. The selected
frame is used as a reference when locating the sphere.

Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next

to the Frame of Reference button and specifying the location of the frame using one of
the four methods available. Refer to Create Frame options for more details.

• Select the target frame on which to position the reference frame selected for the sphere by
selecting from the Locate at dropdown list or clicking in the Locate at field and selecting the target
frame in the Graphic Viewer. The sphere moves to the selected location with the selected reference
frame located on the selected target frame.

Note
If you selected a target frame from the dropdown list, you can create a temporary alternative
frame of reference by clicking the dropdown arrow next to the Frame of Reference button

and specifying the location of the frame using one of the four methods available. If
you selected a target frame in the Graphic Viewer, you can modify its position by clicking the

dropdown arrow next to the Frame of Reference button and specifying the new location
of the frame using one of the four methods available.

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Creating spheres by selecting points

• Select Maintain Orientation to move the sphere the linear distance from the reference frame to
the target frame without changing its orientation.
If you do not select this checkbox, the object will adopt the orientation of the target frame
(selected in the Locate at field).
7. Click OK.
The sphere (shown in the sample below) is created and displayed in the Graphic Viewer and in the
Object Viewer under the selected component.

You can move and manipulate the sphere by selecting Entity in the Pick Level dropdown list, and using
the Placement Manipulator or the Fast Placement tool, for example.

Creating spheres by selecting points

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Sphere Creation → Create a sphere point to
point .
A sphere is displayed on the world frame, the cursor changes to and the Create Sphere dialog box
is displayed.

3. In the Name field, enter a name for the sphere that you wish to create.

Note
By default, spheres are named sphere#.

4. In the Graphic Viewer, click the location for the center of the sphere (Origin).
The coordinates of the selected point are displayed in the Origin fields and the sphere moves to the
location of the selected point.
5. In the Graphic Viewer, click the location for the radius of the sphere (Radius).
The coordinates of the selected point are displayed in the Radius fields and the sphere is positioned
between the two selected points.

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 Creating Tori

Note
You can modify the position of the sphere by modifying the coordinates in the Origin and Radius
fields.

6. In the Dimensions area, modify the radius of the sphere in the relevant field, if required.
7. Click OK.
The sphere is created and displayed in the Object Viewer under the selected component.

You can move and manipulate the sphere by selecting Entity in the Pick Level dropdown list, and using
the Placement Manipulator or the Fast Placement tool, for example.

Creating Tori

Creating tori by measurement

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Torus Creation → Create a torus .
A torus is displayed on the world frame and the Create Torus dialog box is displayed.

3. In the Name field, enter a name for the torus that you wish to create.

Note
By default, tori are named torus#.

4. In the Dimensions area, modify the size of the torus by using the up and down arrows in the Major
radius and Minor radius fields, as follows:
• Major radius – The distance from the center of the torus to the midpoint between the inner and
outer circumference.
• Minor radius – The distance from the midpoint between the inner and outer circumference of the
torus to the outer circumference.

5. To specify the location of the torus, click Expand .

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Creating tori by measurement

The Create Torus dialog box is expanded.

6. Specify a location for the torus in the Location area, as follows:

• From the Reference on object dropdown list, select a reference frame for the torus. The selected
frame is used as a reference when locating the torus.

Note
You can create a temporary alternative frame of reference by clicking the dropdown arrow next

to the Frame of Reference button and specifying the location of the frame using one of
the four methods available. Refer to Create Frame options for more details.

• Select the target frame on which to position the reference frame selected for the torus by selecting
from the Locate at dropdown list or clicking in the Locate at field and selecting the target frame
in the Graphic Viewer. The torus moves to the selected location with the selected reference frame
located on the selected target frame.

Note
If you selected a target frame from the dropdown list, you can create a temporary alternative
frame of reference by clicking the dropdown arrow next to the Frame of Reference button

and specifying the location of the frame using one of the four methods available. If
you selected a target frame in the Graphic Viewer, you can modify its position by clicking the

dropdown arrow next to the Frame of Reference button and specifying the new location
of the frame using one of the four methods available.

• Select Maintain Orientation to move the torus the linear distance from the reference frame to the
target frame without changing its orientation.
If you do not select this checkbox, the object will adopt the orientation of the target frame
(selected in the Locate at field).
7. Click OK.
The torus (shown in the sample below) is created and displayed in the Graphic Viewer and in the
Object Viewer under the selected component.

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 Creating tori by selecting points

You can move and manipulate the torus by selecting Entity in the Pick Level dropdown list, and using the
Placement Manipulator or the Fast Placement tool, for example.

Creating tori by selecting points

The following procedure describes how to create tori by selecting specific points.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, or create a new component.
2. Choose Modeling tab → Geometry group → Solids → Torus Creation →Create a torus point to
point .
A torus is displayed on the world frame, the cursor changes to and the Create Torus dialog box is
displayed.

3. In the Name field, enter a name for the torus that you wish to create.

Note
By default, tori are named torus#.

4. In the Graphic Viewer, click the location for the center of the torus (Origin).
The coordinates of the selected point are displayed in the Origin fields and the torus moves to the
location of the selected point.
5. In the Graphic Viewer, click the location for the major radius of the torus (Major Radius).
The coordinates of the selected point are displayed in the Major Radius fields and the torus is
positioned between the two selected points.
6. In the Graphic Viewer, click the location for the minor radius of the torus (Minor).
The coordinates of the selected point are displayed in the Minor fields and the torus is positioned
between the selected points.

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Uniting solids

Note
You can modify the position of the torus by modifying the coordinates in the Origin, Major Radius
and Minor fields.

7. In the Dimensions area, modify the major and minor radiuses of the torus in the relevant fields, if
required.
8. Click OK.
The torus is created and displayed in the Object Viewer under the selected component.

You can move and manipulate the torus by selecting Entity in the Pick Level dropdown list, and using the
Placement Manipulator or the Fast Placement tool, for example.

Uniting solids

The Unite Boolean operation enables you to unite two 3D objects to create a new object. Once objects are
united, a virtual link is created between them and you cannot move or manipulate one without affecting
the other.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, and that Entity is selected as the Pick Level.
2. Place the objects that you wish to unite in the required positions in the Graphic Viewer.

3. Choose Modeling tab → Geometry group → Solids → Unite .

The Unite dialog box is displayed.

4. In the New Name field, enter a name for the united object that you wish to create.

Note
By default, all objects created with a Boolean operation are named bool#.

5. Select the objects that you wish to unite in one of the following ways:
• Click the required objects in the Graphic Viewer.

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 Subtracting solids

The cursor changes to when selecting objects in the Graphic Viewer.

• Click the required objects in the Object Viewer.
The selected objects appear in the Unite entities field of the dialog box.
6. If you want to delete the original objects from the component, select Delete original entities.
Selecting this checkbox deletes the original objects from the component, and leaves only the new
united object. If you want to keep both the original objects as well as the new object in the
component, deselect Delete original entities.
7. Click OK.
The united object (sample of uniting a cone and a cylinder shown below) is created and displayed in
the Graphic Viewer and in the Object Viewer under the selected component.

Note
If you selected to keep both the original objects and the new united object in the component, the
united object is created on top of the original objects.

You can move and manipulate the united object using the Placement Manipulator or the Fast
Placement tool, for example.

Subtracting solids

The Subtract Boolean operation enables you to remove the volume of one 3D object from another 3D
object.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, and that Entity is selected as the Pick Level.
2. Place the objects on which you want to perform the subtract operation in the required positions in
the Graphic Viewer.
For example, two box-shaped objects may be placed for subtraction as follows:

3. Choose Modeling tab → Geometry group → Solids → Subtract .

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Subtracting solids

The Subtract dialog box is displayed.

4. In the New Name field, enter a name for the subtracted object that you wish to create.

Note
By default, all objects created with a Boolean operation are named bool#.

5. Select the objects that you wish to subtract in one of the following ways:
• Click the required objects in the Graphic Viewer.

The cursor changes to when selecting objects in the Graphic Viewer.

• Click the required objects in the Object Viewer.
The selected objects appear in the Subtract entities field of the dialog box.
6. Click in the From Entity field and select the object in the Graphic Viewer or Object Viewer from which
the objects selected in step 4 are to be subtracted.
The selected object appears in the From Entity field in the dialog box.
7. If you want to delete the original objects from the component, select Delete original entities.
Selecting this checkbox deletes the original objects from the component and leaves only the new
subtracted object. If you want to keep both the original objects as well as the new object in the
component, deselect Delete original entities.
8. Click OK.
The subtracted object is created and displayed in the Graphic Viewer and in the Object Viewer under
the selected component. A sample of a subtracted object, created by subtracting one box-shaped
object from another box-shaped object, is shown below.

Note
If you selected to keep both the original objects and the new subtracted object in the component,
the subtracted object is created on top of the original objects.

You can move and manipulate the subtracted object using the Placement Manipulator or the Fast
Placement tool, for example.

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 Intersecting solids

Intersecting solids

The Intersect Boolean operation enables you to create an object from the intersection volume of two 3D
objects.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode, as described in Set Modeling Scope, and that Entity is selected as the Pick Level.
2. Place the objects on which you want to perform the intersect operation in the required positions in
the Graphic Viewer.
For example, a box-shaped object and a cylinder-shaped object may be placed for intersection as
follows:

3. Choose Modeling tab → Geometry group → Solids → Intersect .

The Intersect dialog box is displayed.

4. In the New Name field, enter a name for the intersected object that you wish to create.

Note
By default, all objects created with a Boolean operation are named bool#.

5. Select the objects that you want to intersect in one of the following ways:
• Click the required objects in the Graphic Viewer.

The cursor changes to when selecting objects in the Graphic Viewer.

• Click the required objects in the Object Viewer.
The selected objects appear in the Intersecting entities field of the dialog box.
6. If you wish to delete the original objects from the component, select Delete original entities.
Selecting this checkbox deletes the original objects from the component, and leaves only the new
intersected object. If you want to keep both the original objects as well as the new object in the
component, deselect Delete original entities.
7. Click OK.

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Scale

The intersected object (sample shown below of intersection of two box-shaped objects) is created
and displayed in the Graphic Viewer and in the Object Viewer under the selected component.

Note
If you selected to keep both the original objects and the new intersected object in the component,
the intersected object is created on top of the original objects.

You can move and manipulate the intersected object by using the Placement Manipulator or the
Fast Placement tool, for example.

Scale

You can change the size of a 3D object in all dimensions.

1. Select an object in the Object Viewer or in the Graphic Viewer when the Pick Level is Entity.

2. Choose Modeling tab → Geometry group → Solids → Scale Object .

The selected object is displayed in the Graphic Viewer with spikes extending in all directions, and the
Scale Object dialog box is displayed:

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 Scale object between points

3. Modify the size of the object in one of the following ways:

• Click and drag any of the spikes.
The object is resized according to how far you drag the spike and in which direction. If you set
Snap by step size, the size changes in in steps according to the value set in Step size, otherwise it
changes continuously.
• Specify the X, Y, and Z values in the dialog box.
• Set the Step size and click the arrows in the X, Y, and Z fields to set the desired values.
4. When you are satisfied with the new dimensions of the selected object, click OK.

Scale object between points

You can modify the dimensions of a selected object using a bounding box.

1. Select an object in the Object Viewer or in the Graphic Viewer when the Pick Level is Entity.

2. Choose Modeling tab → Geometry group → Solids → Scale Object Between Points .
The selected object is displayed in the Graphic Viewer in a bounding box with a yellow line extending
diagonally from the bottom corner of the bounding box to the opposing upper corner of the
bounding box, and the Scale Object Between Points dialog box is displayed:

3. Modify the X, Y, and Z position of the first point in one of the following ways:
• Click a point in the Graphic Viewer.

The cursor changes to when selecting points in the Graphic Viewer.

• Specify the X, Y, and Z values in the First field using the up and down arrows.
• Manually enter the X, Y, and Z values in the First field.
The modifications are dynamically reflected in the Graphic Viewer.
4. Modify the X, Y, and Z position of the second point in one of the following ways:
• Click a point in the Graphic Viewer.

The cursor changes to when selecting points in the Graphic Viewer.

• Specify the X, Y, and Z values in the Second field using the up and down arrows.
• Manually enter the X, Y, and Z values in the Second field.

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Extrude

The modifications are dynamically reflected in the Graphic Viewer.

5. When you are satisfied with the new dimensions of the selected object, click OK.
The modified dimensions of the selected object are displayed in the Dimensions area in the
corresponding Length, Width and Height fields.

Extrude

You can expand a planar object (curve or surface) into a 3D object. The points of the planar object must
be in the same plane. The function supports the following planar objects: Polylines, curves, and surfaces.
When extruding a curve, the function automatically closes the curve with the shortest possible straight
line. The function retains the original object - you can delete this if you wish. You can select multiple
objects if you wish, as long as they all lay in the same plane. The function is only enabled when an object
on or parallel to the global plane is selected.

1. Select a planar entity(ies) in the Object Viewer or in the Graphic Viewer when the Pick Level is
Entity.

2. Choose Modeling tab → Geometry group → Solids → Extrude .

The selected entity is displayed in the Graphic Viewer and is enclosed in an extrusion box with a red
line specifying the positive Z-axis and a yellow line specifying the negative Z-axis.
Additionally, the Extrude dialog box is displayed. Make sure that the points of the selected 2D entity
are in the same plane.

Note
You can select multiple 2D objects as long as they are in the same plane.

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 Extrude

3. Type a name for the new solid or accept the default name.
The default name is Solid1. If this name already exists, the numerical suffix is incremented.
4. Extrude the selected entity in the positive or negative direction in one of the following ways:
• Drag the red/yellow line to extrude the selected entity upward/downwards along the Z-axis.
The cursor is enhanced with a Z-axis when dragging the red/yellow line in the Graphic Viewer.
• Specify the required value in the Positive Value or Negative Value fields using the up and down
arrows.
• Manually enter the required value in the Positive Value or Negative Value fields.
The extrusion is dynamically reflected in the Graphic Viewer and the selected entity changes to a
solid as you specify extrusion values.

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Revolute

Note
The total height of the object is specified in the Total Height field.

5. By default, the function extrudes the object in a direction normal to the plane in which it lays. If you
wish to use any other direction, click Direction and select a frame of reference. Extrusion is performed
along the z-axis of the selected frame.

Note
Selecting a direction parallel to the plane of the object is not allowed and causes an error.

6. If required, select Snap to Grid to specify the movement of the object in step size only.

Tip
You can change the step size by clicking the Step size hyperlink and specifying a new step size in
the displayed Step Size dialog box.

7. When you are satisfied with the dimensions of the extruded entity, click OK.
The selected object, shown below, is displayed as a solid in the Graphic Viewer and in the Object
Viewer as solid#.

Revolute

You can revolve a line (2D object) around a selected axis and create a 3D object.

1. Choose Modeling tab → Geometry group → Solids → Revolute .

The Create Revolved Solid dialog box is displayed with the default name Revolve# in the Name
field.

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 Sweep

2. Edit the name if required.

3. Click in the Contour to Revolve field, and select the 2D object, either in the Graphic Viewer or
Object Viewer, that you want to revolve around an axis. The name of the selected object is displayed
in the Contour to Revolve field.

Note
If you want to delete the original 2D object, select Delete Original Contour. If you want to keep
both the original 2D object as well as the new 3D object, deselect Delete Original Contour.

4. Select the start and end points for the axis around which you want to revolve the selected object in
one of the following ways:
• Click a point in the Graphic Viewer.

The cursor changes to when selecting points in the Graphic Viewer.

• Specify the X, Y, and Z values in the Startpoint and Endpoint fields using the up and down arrows.
• Manually enter the X, Y, and Z values in the Startpoint and Endpoint fields.
5. Select the rotational limits (in degrees) for the axis to revolve, as follows:
• In the From field, specify the starting position using the up and down arrows.
• In the To field, specify the end position using the up and down arrows.
6. Specify the number of facets you want for the selected object in the Number of Facets field using the
up and down arrows.
7. Click OK.
The selected 2D object revolves around the selected axis and creates a 3D object.

Sweep

The Sweep function creates a new solid by sweeping from a start shape, along the contour of a user-
defined curve, and ending with an end shape. The starting and ending shapes can both be either circles,
rectangles, or curves. You can set the dimensions of the starting and ending shapes. When using a curve
for the starting shape, the function automatically closes the curve with the shortest possible straight line.
The function retains the original object - you can delete this if you wish.

1. Select a curve in a the Graphic Viewer or Object Viewer.

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Sweep

2. Choose Modeling tab → Geometry group → Solids → Sweep Curve or Sweep Rectangle or Sweep
Circle.
The Sweep Curves or Sweep Rectangle or Sweep by Circle dialog box is displayed.

Note
The curve you selected is the guiding curve along which the sweep is to be performed. It is
displayed as a read-only parameter.

3. Type a name for the new solid or accept the default name.

Note
The default name is Solid. If this name already exists, a numerical suffix is added.

4. Configure the starting and ending shapes, as follows:

• Curve: Click in Start Curve and select a curve in the Graphic Viewer or Object Viewer. Click in
End Curve and select a curve in the Graphic Viewer or Object Viewer.

Note
If the geometry of the Start Curve and the End Curve are drastically different, the function may
return an error.

• Rectangle: Configure the Start Width and Height and the End Width and Height.
• Circle: Configure the Start Diameter and the End Diameter.

Note
If the guiding line is a closed line or you have selected a polyline (as opposed to a curve), the
function automatically uses the Start shape for both Start and End.

5. Click OK.
The selected object is displayed as a solid in the Graphic Viewer and Object Viewer with the name
solid. If this name is already in use, a numerical suffix is added.

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 Create Curves

Note
The Sweep command does not operate on a self-intersecting curve.

Create Curves

Creating polylines, curves and arcs

The Create Curves command enables you to create polylines, curves, and arcs within a component.

When modeling a component, you can create two-dimensional (2D) objects and three-dimensional (3D)
objects (described in 3D solids creation options). These objects can be either single objects in the
component or integrated with other objects, as required.

Note
• Modeling mode must be activated to create 2D objects. Refer to Set Modeling Scope.
• These commands only work on exact geometries. For information on how Process Simulate identifies
exact geometries, see Explode Geometries.

The Create Curves option includes the following suboptions:

Button Suboption Description

Create Polyline Enables you to create objects that are made up of a series of connected
lines. Refer to Create polylines.
Create Circle Enables you to create objects that are made up of a plane curve
everywhere equidistant from a given fixed point, the center. Refer to
Create circles.
Create Curve Enables you to create objects that are made up of a series of curved
lines. Refer to Create curves.
Create Arc Enables you to create objects that are made up a series of segments of
curves. Refer to Create arcs.

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Create polylines

Button Suboption Description

Fillet Enables you to create a fillet at the intersection of two curve. Refer to
Create fillets on a curve.
Chamfer Enables you to create a chamfer on a polyline. Refer to Create
chamfers on a polyline.
Merge Curves Enables you to merge two (or more) curves into a single curve. Refer to
Merge curves.
Split Curve at Enables you to split a curve at the point where an object intersects the
Intersection curve. Refer to Split a curve.
Create Curve on Enables you to create a curve that traces the border of a surface or
Surface or Solid solid. Refer to Createing Curves Along Border of Surface or Solid.
Border
Create Curve by Enables you to create a curve that traces the intersection of two
Surfaces or Solids surfaces, two solids, or a surface and a solid. Refer to Createing Curves
Intersection at Intersections of Surface or Solid.
Project Curve Enables you to create a curve by projection onto a surface or solid. Refer
onto a Surface or to Project curves onto a surface or solid.
Solid
Offset Curve Enables you to create an offset curve based on an existing curve. Refer
to Creating offset curves.

Create polylines

A polyline is a single entity that is made up of a series of connected lines. You can create polylines when an
unusual shape is required to complete or enhance a component.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode. Refer to Set Modeling Scope.

2. Choose Modeling tab → Geometry group → Curves → Create Polyline .

The Create Polyline dialog box is displayed.

3. In the Name field, enter a name for the polyline that you wish to create.

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 Create polylines

Note
By default, polylines are named Polyline#.

4. Click in the Graphic Viewer to create the first point of the polyline.

The cursor changes to when selecting points in the Graphic Viewer. The selected point is indicated
in the Graphic Viewer by a small plus and appears in the list in the Polyline Points area of the Create
Polyline dialog box. The exact coordinates of the point are displayed in the X, Y and Z fields.
5. Repeat step 4 as many times as required. The selected points appear in order of their creation in the
Polyline Points area.

Note
Select the checkbox in the far right column if the point values are relative to the preceding line. If
you do not select this checkbox, the point values are absolute.

Note
Delete a point by selecting it from the list of points displayed in the Polyline Points area and click

or press <Delete> on your keyboard.

Tip
Select a line in the list in the Polyline Points area of the Create Polyline dialog box to color the
corresponding point magenta in the Graphic Viewer.

6. If you wish to modify or fine-tune the location of a point, select it from the list of points displayed in
the Polyline Points area and modify the X-, Y-, and Z-coordinates by using the up and down arrows
displayed.

Note
The Create Polyline dialog box is dynamic. This means that location modifications are reflected
immediately in the Graphic Viewer.

7. If you wish to close the first and last points of the polyline, select Close Polyline.
8. Click OK.
The polyline (sample of an open polyline shown below) is completed and is displayed in the Graphic
Viewer and in the Object Viewer under the selected component.

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Create circles

You can move and manipulate the polyline using the Placement Manipulator or the Fast Placement
tool, for example.

Create circles

A circle is created parallel to the floor. You can create circles to complete or enhance a component.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode. Refer to Set Modeling Scope.

2. Choose Modeling tab → Geometry group → Curves → Create Circle .

The Create Circle dialog box is displayed.

3. In the Name field, enter a name for the circle that you wish to create.

Note
By default, circles are named Circle#.

4. Click in the Graphic Viewer to create the location of the center point that will form the circle.

The position of the center point is displayed in the Center Point field. The cursor changes to when
selecting points in the Graphic Viewer.
5. If you wish to modify or fine-tune the location of the center point, select the X-, Y-, or Z-coordinate in
the Create Circle dialog box and modify the location using the up and down arrows.

Note
The Create Circle dialog box is dynamic. This means that location modifications are reflected
immediately in the Graphic Viewer.

6. In the Radius field, specify the radius of the circle using the up and down arrows.
7. Click OK.
The circle (sample of a circle shown below) is completed and is displayed in the Graphic Viewer and in
the Object Viewer under the selected component.

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 Create curves

You can move and manipulate the circle using the Placement Manipulator or the Fast Placement
tool, for example.

Create curves

A curve is a line that deviates from straightness in a smooth, continuous fashion. You can create curves
when an unusual shape is required to complete or enhance a component.

Note
Curves are created by algorithms. Each time a point is added to the curve, the curve changes to match
the radius or arc of the curve.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode. Refer to Set Modeling Scope.

2. Choose Modeling tab → Geometry group → Curves → Create Curve .

The Create Curve dialog box is displayed.

3. In the Name field, enter a name for the curve that you wish to create.

Note
By default, curves are named Curve#.

4. Click in the Graphic Viewer to create the first point of the curve.

The cursor changes to when selecting points in the Graphic Viewer. The selected point is indicated
in the Graphic Viewer by a small plus and appears as point# in the Curve Points field of the Create
Curve dialog box.

Note
When you select a point in the Curve Points field, the coordinates of the point are displayed in the
Current Location field.

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Create arcs

5. Repeat step 4 as many times as required.

The selected points appear in the order of their creation in the Curve Points field.

Note
Delete a point by selecting it from the list of points displayed in the Curve Points area and click

6. If you wish to modify or fine-tune the location of a point, select it from the list of points displayed in
the Curve Points field and modify the X-, Y-, and Z-coordinates in the Current Location field using
the up and down arrows.

Note
The Create Curve dialog box is dynamic. This means that location modifications are reflected
immediately in the Graphic Viewer.
In the Curve Options field, Exact is always selected. Interpolate is not supported in the current
version.

7. If you wish to close the first and last points of the curve, select Close Curve.
8. Click OK.
The curve (sample of an open curve shown below) is completed and is displayed in the Graphic
Viewer and in the Object Viewer under the selected component.

You can move and manipulate the curve using the Placement Manipulator or the Fast Placement
tool, for example.

Create arcs

An arc is a segment of a circle. You can create arcs when an unusual shape is required to complete or
enhance a component.

1. Select a component, either in the Graphic Viewer or Object Viewer, and ensure that you are in
Modeling mode. Refer to Set Modeling Scope.

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 Create arcs

2. Choose Modeling tab → Geometry group → Curves → Create Arc .

The Create Arc dialog box is displayed.

3. In the Name field, enter a name for the arc that you wish to create.

Note
By default, arcs are named Arc#.

4. Click in the Graphic Viewer to create the points that will form the arc, as follows:
• The first point selected is the Center Point, which indicates the center of the arc.
• The second point selected is the Start Point, which indicates the radius and the point at which the
arc starts.
• The last point selected is the End Point, which indicates the point at which the arc ends.

(The cursor changes to when selecting points in the Graphic Viewer.) The selected point is
indicated in the Graphic Viewer by a small plus and the exact X-, Y-, and Z-coordinates of the
selected point are displayed in the dialog box.
5. If you wish to modify or fine-tune the location of a point, select the X-, Y- or Z-coordinate of the
required point in the Create Arc dialog box and modify the location using the up and down arrows,
as shown:

Note
The Create Arc dialog box is dynamic, maening that the location modifications are reflected
immediately in the Graphic Viewer.

6. Click OK.
The arc (sample of an arc shown below) is completed and is displayed in the Graphic Viewer and in
the Object Viewer under the selected component.

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Create fillets on a curve

You can move and manipulate the arc using the Placement Manipulator or the Fast Placement tool,
for example.

Create fillets on a curve

A fillet is created when you replace the intersection of two curves with an arc.

This function enables you to create a fillet between two intersecting curves in the same plane. The fillet
extends between the two curves you specify and has a radius you specify.

The function creates a new curve as a child object of the component currently open for modeling. The
new object is a merge of the source curves and the fillet. The unrequired parts of the source curves are
discarded.

Note
At any given intersection between two curves, there are four quadrants in which to create a fillet. When
selecting curves, your pick points define the quadrant in which the fillet is to be created. The following
figure shows the pick points for the curves and the resulting fillet in the quadrant between those pick
points.

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 Create fillets on a curve

1. Choose Modeling tab → Geometry group → Curves → Fillet .

The Fillet dialog box is displayed.

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Create chamfers on a polyline

2. Type a name for the new curve or accept the default name. The default name is Fillet. If this name
already exists, a numerical suffix is added.
3. Click in From Curve and select a curve in the Graphic Viewer (only).

Note
When you click a curve, you are merely selecting an object. The Graphic Viewer marks the
selection with an asterisk. You are not selecting an exact location for the fillet (this is created with a
radius fixed by the user in the Radius field).

4. Click in To Curve and select another curve in the Graphic Viewer.

5. Type a Radius for the fillet (arc).
6. If you wish to delete the original curves, check Delete Original Entities. By default, the original
curves are deleted.
7. Click Preview if you are not sure whether you are satisfied with your settings.
The preview of the result is a temporary display - no changes are stored until you are satisfied with
the results and click OK.
8. Click OK.

Create chamfers on a polyline

A chamfer is created when you replace a sharp bend in a single polyline with a straight line or an
intersection of two polylines with a straight line.

This function enables you to create a chamfer between neighboring segments of a single polyline. The
neighboring segments must lay in the same plane. The chamfer extends between the two segments at a
distance from the vertex fixed by the user.

Note
The segments must be linked (touching) or linked by a third segment of no more than 1 millimeter;
otherwise the function returns an error.

The function also enables you to create a chamfer between intersecting segments of two polylines. The
intersecting segments must lay in the same plane. The chamfer extends between the two polylines you
specify and at a distance from the intersection fixed by the user.

Note
In the case of two polylines, the function also merges the polylines into a single polyline.

The function creates a new polyline as a child object of the component currently open for modeling.
The new object is a merge of the source polyline(s) and the chamfer. The unrequired parts of the source
polyline(s) are discarded.

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 Create chamfers on a polyline

Note
At any given intersection between two polylines, there are four quadrants in which to create a chamfer.
When selecting polylines, your pick points define the quadrant in which the chamfer is to be created.
The following figure shows the pick points for the polylines and the resulting chamfer in the quadrant
between those pick points.

1. Choose Modeling tab → Geometry group → Curves → Chamfer .

The Chamfer dialog box is displayed.

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Create chamfers on a polyline

2. Type a name for the new polyline or accept the default name.

Note
The default name is Chamfer. If this name already exists, a numerical suffix is added.

3. Click in From Polyline and select a polyline in the Graphic Viewer (only).

Note
When you click a polyline, you are merely selecting an object. The Graphic Viewer marks the
selection with an asterisk. You are not selecting an exact location for the chamfer (this is created at
a distance from the vertex fixed by the user in the Distance field).

4. Type a distance.
This specifies the distance of the chamfer from the intersection along the first polyline. The distance
may not be zero.
5. Click in To Polyline and select another segment of the polyline or another polyline in the Graphic
Viewer.
6. Type a distance.
This specifies the distance of the chamfer from the intersection along the second polyline. The
distance may not be zero. By default, the second distance textbox is always updated to the same
value as that of the first one. You can overwrite this value, if you wish.
7. If you wish to delete the original polyline(s), check Delete Original Entities. By default, the original
polylines are deleted.
8. Click Preview if you are not sure whether you are satisfied with your settings.

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 Merge curves

The preview of the result is a temporary display - no changes are stored until you are satisfied with
the results and click OK.
9. Click OK.

Merge curves

You can merge separate, neighboring curves into a single curve. The source curves may lay in different
planes but must be close to each other, within a specified tolerance.

The new curve(s) is created as a child object(s) of the component currently open for modeling.

1. Select the curves you wish to merge in the Graphic Viewer or Object Viewer.

2. Choose Modeling tab → Geometry group → Curves → Merge curves .

The Merge curves dialog box is displayed.

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Split a curve

3. Type a name for the curve or accept the default name. The default name is Curve. If this name
already exists, a numerical suffix is added.

Note
You can click the Curve list and change your selection of curves by clicking other curves in the
Graphic Viewer or Object Viewer.

4. Type a value for the tolerance between adjacent curves to be considered as neighbors. The
maximum tolerance is 1 millimeter.
5. If you wish to delete the original curves, check Delete Original Entities. By default, the original
curves are deleted.
6. Click OK.

Note
The Merge command does not operate if any of the selected curves cannot be merged.

Split a curve

You can split a curve into separate curves at a given point or at the point it intersects with another curve
or surface. The function splits off a user-selected segment resulting in a new curve and a truncated source
curve. The function assigns a name for the new curve composed from the name of the original curve with
the addition of a numerical suffix.

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 Split a curve

The new curve is created as a child object of the component currently open for modeling.

1. Choose Modeling tab → Geometry group → Curves → Split Curve on Intersection .

The Split curve on intersection dialog box is displayed.

2. Click in Curve and select a curve in the Graphic Viewer (only).

3. Check Intersecting Entity and select a curve or surface in the Graphic Viewer or Object Viewer.
or
Check Split point and click a point in the Graphic Viewer or enter the coordinates for the split point.
4. If you wish to delete the original (truncated) curve, check Delete Original Entities. By default, the
original curve is deleted.
5. Click OK.

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Create curves along the border of a surface or solid

Create curves along the border of a surface or solid

You can create a new curve that represents the border of a specified surface or solid. When using the
command for a solid, click the surface for which you wish to produce a border.

Note
If the specified surface or solid contains trapped holes, the command creates more than one new curve.

• Running this command on a cylinder, creates two output borders, one at each side of the cylinder.
• Running this command on a cone creates the same curve regardless of the location of the pick point.
• Running this command on a fully-closed surface which has no borders, for example, a cube, a sphere, or
a ring) does not create any output curves.

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 Create curves along the border of a surface or solid

1. Select a surface or solid in the Graphic Viewer.

2. For a solid, click the surface you wish to use.

3. Choose Modeling tab → Geometry group → Curves → Curve on Borders .

The Curve on Borders dialog box is displayed with the name of the selected surface or solid in the
Entity field:

4. Type a name for the curve or solid or accept the default name. The default name is composed of the
name of the surface or solid with the suffix _Borderline. If this name already exists, the system adds a
numerical suffix.

Note
To change the currently selected surface or solid, you can click a different solid or surface in the
Graphic Viewer.

5. In Create As, select one of the following:

• Single curve per closed contour - to create a single curve for each closed contour.
• One curve per edge - to create separate curves for each edge of the selected entity. This facilitates
generation of continuous Mfgs if you wish to weld only one of the edges; create multiple curves,
delete the unwanted ones, and create the required continuous Mfgs.
6. If you wish to delete the original surface or solid after creating the borderline curve, check Delete
Original Entities. By default, the original surface or solid is retained.
7. Click Preview to view a temporary display of the curve you created without saving it.
8. Click OK to save the curve.

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Creating curves at intersections of surfaces and solids

Creating curves at intersections of surfaces and solids

You can create a curve that represents the intersection of two specified surfaces, two specified solids, or a
specified surface and a specified solid.

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 Creating curves at intersections of surfaces and solids

Note
• In the case of intersecting solids, the command creates a curve at the penetration contour of the two
solids.

• This command may create one or more new curves.

• If the selected surfaces or solids do not intersect, the command generates an error.
• If one of two selected solids completely contains the other, the command generates an error.

1. Select surfaces or solids in the Graphic Viewer.

2. Choose Modeling tab → Geometry group → Curves → Intersection Curve .

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Project curves onto a surface or solid

3. Type a name for the curve or accept the default name. The default name is Curve. If this name
already exists, the system adds a numerical suffix.

Note
You can click in First Entity and Second Entity to change your selections by typing the name of a
surface or solid. You can also change your selections by clicking surfaces or solids in the Graphic
Viewer.

4. If you wish to delete the original surfaces or solids after creating the intersection curve, check Delete
original entities. By default, the original surfaces or solids are retained.
5. Click OK.

Project curves onto a surface or solid

You can create one or more new curves by projecting the image of existing ones onto a surface or solid.
The new curves are created as child objects of the component currently open for modeling. By default,
the direction of projection is in the z-axis of the original frame but you can override this and specify any
direction.

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 Project curves onto a surface or solid

1. Select one or more curves in the Graphic Viewer or Object Viewer.

2. Choose Modeling tab → Geometry group → Curves → Project Curve .

The Project Curve dialog box is displayed.

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Creating offset curves

Note
You can click in Select Curves and use the Graphic Viewer or Object Viewer to change your
selection of curve(s) for projection.

3. Click in Select Entity and select the desired surface or solid in the Graphic Viewer or Object Viewer
or type its name.
4. The system projects the curve along the z-axis of the selected frame - by default, in a direction normal

to the plane of the selected surface or solid. To use any other direction, click to create a new
frame of reference or to select an existing one.
5. If you wish to delete the original curve(s) after creating the projection curve, check Delete original
entities. By default, the original curves are retained.
6. Click Preview to view a temporary display of the curve you projected without saving it.
7. Click OK to save the projected curve.

Creating offset curves

You can create an offset curve from an existing planar, 1-dimensional curve. The new curve is created in
the same plane as the original curve. If the original curve does not lay entirely in one plane, an error is
generated.

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 Creating offset curves

The function samples the original curve, draws normal lines at the sampled points on the curve, and places
points for the new curve at the offset distance along these normal lines. Therefore, the resultant curve is
not necessarily an exact copy of the original, as shown in the following figure.

The user chooses on which side of the original curve to create the new curve by clicking a point in the
Graphic Viewer or by entering exact coordinates. In either case, if the selected point is not in the same
plane as the original curve, the selected point is transformed to an equivalent point on the plane of the
curve.

1. Select a curve in the Graphic Viewer or Object Viewer.

2. Choose Modeling tab → Geometry group → Curves → Offset Curve .

The Offset curve dialog box is displayed.

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Create a point

3. Type a name for the new curve or accept the default name. The default name is composed of the
name of the original curve with the suffix _Offset. If this name already exists, a numerical suffix is
added.
4. Click in Side pick and define a point to one side of the source curve. This point represents the
direction in which to offset the new curve relative to the source curve. You can click any point in the
Graphic Viewer and the coordinates of the selected point are displayed in Side pick. Alternatively,
you can type the coordinates directly into Side pick. This point must not be on the source curve.

5. If you wish the offset curve to pass through the Side pick point, click .
The system calculates the distance between the original curve and the selected pick point and
displays this in the Offset field.
6. Type an Offset distance for the new curve. This may not be zero.
7. If you wish to delete the original curve, check Delete Original Entities. By default, the original curve
is retained.
8. Click Preview if you are not sure whether you are satisfied with your settings.
The preview of the result is a temporary display - no changes are stored until you are satisfied with
the results and click OK.
9. Click OK.

Create a point

Using the Create Point command, you can create points in the workcell. For example, you can create
points for constructing kinematic entities (refer to Kinematics Editor).

This video demonstrates creating points and blocks.

Note
Videos are not included in PDF. To access videos, use HTML.

There are three ways to create a point:

• By specifying its X, Y, Z coordinates

• By placing it at the center of a specified circle
• By placing it between two specified points

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 You can group points together in logical blocks (refer to Create Block), which can serve as a container to
nest points for creating a joint.

Specify X, Y, and Z values to create a point

Procedure

1. Choose Modeling tab → Geometry group → Create Point and select Create Point By 3 Values.

2. Click the desired position in the graphic display or set the desired coordinate values in Relative
position. The proposed point is displayed in white.

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Create a point at center of circle

3. Set a Reference frame. The coordinates of the selected point will be relative to this frame.
4. Click OK to save the new point (displayed as a black square).

Create a point at center of circle

Procedure

1. Choose Modeling tab → Geometry group → Create Point and select Create Point At Circle Center.

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 Create a point at center of circle

2. Click three times in the graphic display or set the desired coordinate values in the dialog box to define
a circle. The proposed point is displayed in white at the center of the specified circle.

3. Click OK to save the new point (displayed as a black square).

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Create a point between two points

Create a point between two points

Procedure

1. Choose Modeling tab → Geometry group → Create Point and select Create Point Between 2
Points.

2. Click twice in the graphic display or set the desired coordinate values in the dialog box. The proposed
point is displayed in white between the two specified points.

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 3. Use the slider to move the new point along the line connecting the two specified points.
4. Click OK to save the new point (displayed as a black square).

You can drag the new point and nest it under a logical block.

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Create a block

Create a block

The Create Block command creates a logical block which you can use as a container in the Object Viewer
to bind entities in logical groups. For example, you can create a block and nest points (refer to Create
Point) in it for creating kinematic entities.

This video demonstrates creating points and blocks.

Note
Videos are not included in PDF. To access videos, use HTML.

Procedure

1. Select a resource that is in modeling scope. Run Set Modeling Scope if you need to open the
resource for modeling.
2. Choose Modeling tab → Geometry group → Create Block.
A new block is created and displayed in the Object Viewer.

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 Create 2D Outline

Create 2D Outline
When an industrial manufacturer needs to replicate a plant or part of it to another location, accuracy in
layout planning is a key factor. Layout planning applications use 2D contours flattened from the 3D data
at the existing factory, including parts and compound parts, resources and compound resources, swept
volumes, and any objects with visual 3D representation.

The Create 2D Outline command allows you to select all relevant objects and creates contours for each
object on the plane you designate. This can be useful for calculating the floor space required for an object
(XY plane) or the height it reaches (XZ or YZ planes).

1. Choose Modeling tab → Geometry group → Create 2D Outline .

The Create 2D Outline dialog box is displayed.

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Create 2D Outline

The command is active when at least one object is in modeling scope (refer to Set Modeling Scope).
2. From any of the open viewers, select one or more objects for which to create 2D contours. Any
pre-selected objects are automatically displayed in the Objects list of the dialog box. With nothing
selected, the dialog box opens with an empty list. After opening the dialog box, you can add or
remove objects.
3. The Modeling scope field contains the currently modeled part, but you can change to any other
modeled part. The new 2D contours are created in the scope of this part.
4. You can select a plane on which to project the 2D contour. By default, the command projects the
outline on the floor XZ plane, but you can click one of the other options to change the projection
plane. The system draws the plane to enable you to see its area and angle before you create the
contour.

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 Create 2D Outline

Note
The plane is relative to the working frame.

5. Click Apply to create the 2D contours and leave the dialog box open to create additional ones, or click
OK to create the contour and close the dialog box.

Note
These are the results when using the command for compound parts and compound resources resulting
in the unification of all the childrens' 2D outlines:

• All components inside compound are selected -

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Create Dashed Curves from Edges

• Only compound is selected -

Note
When you select multiple objects resulting in multiple 2D contours, no logical relations are created
between them.

Calculating the contour of large objects may be time-consuming. 64bit installations may provide faster
performance.

Create Dashed Curves from Edges

The Create Dashed Curves From Edges command reduces the time needed to model curves for
continuous Mfgs.

To launch the command, choose Modeling tab → Geometry group → Create Dashed Curves From
Edges. This allows you to create dashed curves based on edges. The command offers several methods to
define curves:

• Length and Spacing

• Length and Number
• Spacing and Number
• Length, Spacing and Number

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 Create Dashed Curves from Edges

You can create customized dashed curves on single or multiple successive edges. You can easily convert
the resulting curves to Continuous Mfgs to be used for the needs of various welding processes.

To create dashed curves, set components to Modeling mode in order to use the command. When
command is opened, the selection type is automatically switched to Edge Pick Level plus On Edge Pick
Intent.

Note
The Create Dashed Curve From Edges command works only for components with exact geometry. If the
component’s geometry is mixed, dashed curves can be created only on edges with exact geometry.

The following creation methods are available:

• Spacing, Number—creates a predefined number of curves with preset distance between them. Curve
length is calculated based on the total length of the Edges entries:
◦ Distance from start—distance from the start point of the edge, after which the first curve will begin.
◦ Spacing—distance between the dashed curves.
◦ Number of curves—the exact number of curves to be created.

• Length, Number—distributes a preset number of curves with fixed length over the total length of the
Edges entries.
◦ Distance from start—distance from the start point of the edge, after which the first curve begins.

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Create Dashed Curves from Edges

◦ Curve length—length of a single curve.

◦ Number of curves—the exact number of curves to be created.

• Length, Spacing—adds as many curves, as the total Edges length allows. These curves have predefined
length and spacing between them.
◦ Distance from start—distance from the start point of the edge, after which the first curve begins.
◦ Curve length—length of a single curve.
◦ Spacing—distance between the dashed curves.

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 Create Dashed Curves from Edges

• Length, Spacing, Number—creates a preselected number of curves with fixed length and spacing over
the length of the Edges entries.
◦ Distance from start—distance from the start point of the edge, after which the first curve begins.
◦ Curve length—length of a single curve.
◦ Spacing—distance between the dashed curves.
◦ Number of curves—the exact number of curves to be created.

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Create Dashed Curves from Edges

Note
• The Dashed Curve preview is automatically displayed in the Graphics Viewer upon selecting a valid
edge and configuration.
• The total length of the selected edges is listed in the Status bar.
• Select Reverse dashed curve to invert the direction of curve creation.
• Selecting entries from the Edges list highlights them in the Graphics Viewer. These entries can be
deleted, or replaced by picking another edge.

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 Create isoparametric curves

Create isoparametric curves

Procedure

1. Select a part. The part must be in modeling scope; if necessary, run Set Modeling Scope.

2. Choose Modeling tab → Geometry group → Create Isoparametric Curves .

The Create Isoparametric Curves dialog box appears.

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 Scope is populated with the name of the selected part.
3. In the Graphic Viewer, select one of the part faces. The face must be of exact geometry. The Graphic
Viewer displays a leading curve in the +U direction from one end of the face to the other end.

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 You can set the leading curve to run in the +U, -U, +V, or -V direction.

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 4. In Distance of first curve, set the distance from the face's edge to the point at which to create the
first curve (of the block of curves). This distance is measured along the leading curve.
5. In Distance between curves, set the distance between the curves in the block. The distance is
measured along the leading curve and is not constant at all points on the face surface.
6. In Number of curves, select one of the following to control the number of curves in the block:
• Maximum - When you apply the settings, Process Simulate creates curves from the Distance of
first curve point to the ending edge. This is the maximum possible number of curves. The number
of curves is displayed in brackets.
• Exactly - When you apply the settings, Process Simulate creates exactly the number of curves you
request.
• As you set the parameters, the Graphic Viewer updates the preview accordingly. For example:

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 • If you set an invalid combination of parameters, the illegal parameter is highlighted in red and the
preview is not displayed.
7. By default, Name prefix is set to SET - edit this as desired. The block of curves is named
according to the following convention: <Name prefix>_<Distance of first curve>_<Distance between
curves>_<Number of curves>; a numerical suffix is added if required to maintain name uniqueness.
The name of each curve in the block is: <Block name>_curve_<numerical suffix>.
8. Click one of the following to run the command:
• OK – Process Simulate creates the set of curves and closes the Create Isoparametric Curves dialog
box.
• Apply – Process Simulate creates the set of curves. The Create Isoparametric Curves dialog box
remains open and both OK and Apply are disabled, enabling you to select another face on which
to create isoparametric curves (or another block of curves on the same face). After changing any
value in the Create Isoparametric Curves dialog box, OK and Apply are enabled.

Note
• The leading curve is not retained.

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Entity Level

• The command also creates a new block nested under the selected part in the Object Viewer. The
block is named <Name prefix>_<Distance of first curve>_<Distance between curves>_<Number
of curves>_<numerical suffix> and the curves are nested under the new block.

Entity Level
Process Simulate supports the following varying levels of component representation:

• United Representation – Components are loaded as single entities. This default level of representation
is typically used unless a more detailed representation is needed.
• Entity Level – All the entities comprising a component are loaded. Each entity is individually selectable.
• PMI Level – Components are loaded together with their PMI information. Refer to PMI.

Note
• You can load components in both Entity Level and PMI Level at the same time.
• When loading JT files, you can filter them according to a preconfigured filter. For more information, see
the Apply Default Layer Filter when loading data option in General tab.

Load Entity Level

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 Entity Level

The Load Entity Level command enables users to load components in detailed representation and to
use the entities in various definitions. Instance information of entities is stored in the scene data on the
operation root loaded in Process Simulate on Teamcenter.

You can switch to the entity level representation of any direct JT.

Note
Switching .co components to entity level is possible only when they contain both United and Detailed
Representations.

Working in entity level may affect memory consumption and performance. Typically, users may wish to
switch to detailed representation in order to set desired entities as “preserved” using Set as preserved
objects and then switch back to United Representation using Unload Entity Level, see below.

Note
By default, all components are loaded in United Representation.

CO components of Robcad super components cannot be loaded at entity level.

If you are loading a compound part from Teamcenter and the compound parent possesses its own
geometry, Process Simulate displays this as a child instance in the compound node. The compound
geometry is associated with the child instance. The following figure shows the Compound_Example
compound node. Its child parts are Compound_Example (View) (Geometry Representation), containing
the geometry of the compound parent, and the child parts of the component.

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Entity Level

The child instance is marked with the icon overlay and (Geometry Representation) is appended to its
name. This instance behaves like any other part instance.

To load components at entity level:

Choose Modeling tab → Entity Level group → Load the entity level representation for the following
types of components:

• Part and Tool instances, including instances of Compound Prototype

• Part and Tool prototype assignments
• Non-empty Compound Parts or Compound Resources

After running the command, all the entities of the selected components are loaded for use in the Graphic
Viewer or the Object Viewer.

Unload Entity Level

After components were loaded at the entity level, users can reload them back to United Representation.

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 Set as preserved objects

Note
By default, all components are loaded in United Representation.

To reload from entity level to united representation:

Choose Modeling tab → Entity Level group → Unload the entity level representation for the
following types of components:

• Part and Tool instances, including instances of Compound Prototype

• Part and Tool prototype assignments
• Non-empty Compound Parts or Compound Resources

Unload Entity Level affects all selected entity level objects in a single or multiple selection of Part and Tool
instances and Prototype assignments and it affects the entire hierarchy of a selected Compound Prototype.
The command deletes any references to entities, such as from simulation events and collision sets, that are
not defined as preserved.

Set as preserved objects

In the Modeling session, you can select one or more entities, blocks, or PMI items and preserve them when
switching to United Representation. They are then available for use as individual objects in the Graphic
Viewer or the Object Viewer.

To set objects as preserved, select the entities and objects and choose Modeling tab → Entity Level group
→ Set objects to be preserved - the system adds a key icon overlay next to the nodes of the
selected objects.

Note
The system automatically preserves all legacy frames for data created prior to release 9.1.1. You can
remove their preserved status if you wish (except for kinematic frames).

Set as unpreserved objects

For one or more preserved entities, blocks, or PMI entities, choose Modeling tab → Entity Level group →

Set objects to be not preserved to remove their preserved status — the system removes the key icon
overlay next to the nodes of the selected objects.

As a result, when switching to United Representation, they are no longer accessible as individual objects in
the Graphic Viewer or the Object Viewer.

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Explode geometries

Note
Unpreserved entities are not accessible as individual objects (but they are present in the unified object).
Unpreserved PMI entities, however, are removed.

Explode geometries
JT files may contain entities with exact geometries all nested under a single parent entity. In this
case, Process Simulate is unable to identify the exact geometry of the child entities and cannot
execute modeling commands upon these entities. A parent entity containing unidentified geometries is
represented by a diamond symbol . Executing Explode Geometries extracts all the
exact geometries and creates a hierarchy. The exploded entity becomes a block and is represented by a
multiple-diamond symbol. For each geometry a separate entity is created and nested under the block. Each
entity possesses a single loaded geometry which can be modeled with any of the modeling commands.

To explode geometry components, select a component or one or more entities or links/blocks within the
same component, either in the Graphic Viewer or the Object Viewer, and choose Modeling tab → Entity

Level group → Explode Geometries . Each entity is exploded into a parent block with children entities
(solids, points, lines/curves), each containing a single geometry.

For entities with lines/curves (wireframes) that have names saved on the JT, using Explode Geometries
assigns the original CAD names to the exploded wireframes. Exploded solids and points are assigned
default names based on the original unexploded entity.

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 Viewing End Items

Note
The Explode Geometries command cannot be undone.

Viewing End Items

Resources and product sub assemblies may sometimes be of no interest to the Process Simulate user. The
vehicle speedometer, as an example of a product sub assembly, is loaded in the Object Viewer as an end
item and simulated without reference to the parts it contains. An example of a resource would be an end
item robot with its base and cables. In these cases, it is preferable to load a single node (the speedometer,
the robot with base and cables) without its part hierarchy. This reduces clutter in the work environment,
facilitates simulation, and improves performance. The end item is supported as any other single part in all
the viewers. The entire geometry of the end item is displayed in the Graphic Viewer with all its parts and
its PMIs (if they exist). Picking any of these selects the end item (when Pick Level is set to End Item — if
not, the picked object is selected).

After loading an end item as a single node, you can expose the parts it contains and hide them again.

Resource and fixture end items, while represented as one unit, allow you to define, modify and use their
kinematics.

End items are indicated in the Object Tree by overlays:

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Viewing End Items

End Item Overlays

Parts, Resources

Equipment

Note
• Modifying unexposed End Item descendants is not possible. However, for exposed descendants, you
can use actions that are normally supported for non-End Item objects, such as moving locations,
changing hierarchy, delete add resources, object flow operations.
• The following types of attachments are currently supported for end items and their descendants.
◦ 3D representation (.jt files)
◦ Object kinematics
◦ Kinematics on compound (kinematics of equipment)
◦ Motion parameters
Other types of attachments, such as logic behavior and robotic parameters are not currently
supported.

To expose the children of an end item:

• Select an end item node in the Object Viewer and choose Modeling tab → End Item group → Expose
End Item Descendants .

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 Kinematics Editor

To hide the children of an end item:

Select an end item node in the Object Viewer and choose Modeling tab → End Item group → Hide End
Item Descendants .

Finding End Item Roots

Select a descendant of a root item in the Object Viewer, Graphic Viewer, or Mfg Viewer and choose
Modeling tab → End Item group → Find End Root Item . The end root item is highlighted in the
Object Viewer.

Kinematics Editor
This video demonstrates how to use the Kinematics Editor.

Note
Videos are not included in PDF. To access videos, use HTML.

Any simple component can have kinematics, and a robot is a more sophisticated device with kinematics.
You can manipulate a device or robot to simulate tasks in a working environment.

The Kinematics Editor command is a modeling tool that enables you to define the kinematics of a
component. When you define kinematics for a selected component, you are creating a kinematic chain of
links and joints that will enable the component to move.

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Kinematics Editor

By default, the Kinematics Editor command is disabled until a component is selected.

After selecting a component, choose Modeling tab → Kinematic Device group → Kinematics Editor .
The Kinematics Editor is displayed, enabling you to define kinematics for the component.

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 Kinematics Editor

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Kinematics Editor

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 Kinematics Editor

Different joint dependencies which are defined in the Joint Dependency dialog box are represented as
follows:

• A joint dependent by function is drawn with a dashed line and the function is identified in the tooltip.
• A coupled joint is drawn with a dashed line and its leading joint is identified in a tooltip together with its
follow factor.
• A following joint is drawn with a dotted line and its leading joints are identified in a tooltip together with
their follow factors.

The following buttons are available in the toolbar of the Kinematics Editor:

Butto
n Name Description
Create Link Enables you to define and create links. Refer to Create links.

Create Joint Enables you to define and create joints.

Reverse Joint Keeps the parent-child link and changes the direction of the joint.

Set Current If there is a link in the Kinematics Editor, this function sets the current joint
Joint Values as values as the zero position by a compilation; Process Simulate prompts you
Zero before executing the command. If there is no link, the function is disabled.
Joint Opens the Joint Dependency Editor that enables you to define the
Dependency dependency of joints. Refer to Joint Dependency Editor.
Editor
Create Crank Enables you to define and create cranks. Refer to Create Crank.

Create Slot Enables you to create a slot joint with either one or two slots. Refer to
Joint Create Slot Joint.
Properties Enables you to view and modify existing joint properties.

Delete Deletes selected links and joints.

Set Baseframe Enables you to specify a baseframe for the component. Refer to Add
baseframes.
Create Enables you to create a toolframe for the component. Refer to Add
Toolframe toolframes.
Open Joint Jog Opens Joint Jog.

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Kinematics Editor

Butto
n Name Description
Open Pose Opens Pose Editor.
Editor
Zoom In Increases the size of the image in the Kinematics Editor.

Zoom Out Decreases the size of the image in the Kinematics Editor.

For information on creating kinematics for components, refer to Defining Kinematics. If you define more
than six DOF (degrees of freedom) for a robot, (for example, a load assist device), Process Simulate displays
the following message when you exit the Kinematics Editor:

Click Yes to proceed. Process Simulate applies a special inverse algorithm.

Note
• Only the default robot controller supports special inverse solutions. For more information on robot
controllers, refer to Teach Pendant.
• For a robot or device with more than six degrees of freedom, it is often useful to lock one or more
joints. You can jog the locked joint directly using the Joint Jog dialog box but it remains at its current
joint value when calculating inverse kinematics. This reduces the number of redundant solutions and
enables you to control the device in dense work environments (for example, when using a load assist
device - defined as a robot - to mount a seat inside a vehicle cabin). For information on how to lock
joints, refer to Creating Joints.
• Compound equipment is not supported.
• Load assist devices can be used with various tools, such as Joint Jog.

Note
Create a motionparameters.e file with a joint_vel_prof all rect_prof; entry in it and place it in the
Load Assist .cojt folder for Device Operations.

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 Defining kinematics

Defining kinematics

Defining the kinematics of a component is a process that requires you to create a kinematic chain of
links and joints. A kinematic chain has an order established by the relationship of the links. The parent
link precedes a child link in the sequence order. When the parent link moves, the child link follows. In a
kinematic chain, the number of links is equal to one more than the number of joints. For example, if there
are six joints, there will be seven links.

After defining kinematics (links and joints), Process Simulate recognizes the object as a device and enables
Joint Jog. If you add a baseframe and toolframe, Process Simulate recognizes the object as a robot and
also enables Robot Jog.

Create links

Creating links is the first stage in defining kinematics for a component. A link is the basic non‑moving
segment of a kinematic chain. To correctly define a component with kinematics, you must ensure that all
of its entities have been included in a link.

In Process Simulate, each link created in the Kinematics Editor is highlighted by a color predefined in the
system. A parent/child hierarchy of links determines the order of the links.

Note
Before you can begin creating links, a component must be selected to enable the Kinematics Editor
option.

1. Choose Modeling tab → Kinematic Device group → Kinematics Editor .

Note
The Pick Level changes automatically to Entity when the Kinematics Editor is displayed.

2. In the Kinematics Editor, click .

A link with the default name lnk1 appears as a small rectangle in the Kinematics Editor and the Link
Properties dialog box is displayed.

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Create links

3. In the Name field, enter a name for the first link.

4. In the Link Elements field, select one or more entities in the selected component, either in the
Graphic Viewer or the Object Viewer, that you want to specify as the first link. (The cursor changes
to when selecting entities in the Graphic Viewer.) The selected entities are displayed in the Link
Elements field.
All entities entered in the Link Properties dialog box are highlighted in the Graphic Viewer and the
Object Viewer. After each addition to the Elements list, the system adds an empty new line which is
highlighted.

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 Create links

Note
Select one entity in the Link Elements list to highlight it in the Graphic Viewer.

5. Click OK.

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Create links

The first link is created and highlighted in the Kinematics Editor in a color defined by the system, and
the default name is replaced by the name selected for the first link.

Tip
It is recommended to select the Show colors checkbox at the bottom of the Kinematics Editor in
order to display the links in different colors. This makes it easier to identify the links when creating
and editing a component with kinematics.

6. Create further links as required by repeating steps 2 through 5. It is recommended to include all the
entities of the selected component in the links.

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 Create joints

Note

You can delete a link by selecting the required link and clicking in the Kinematics Editor.

After you have defined the links for the selected component, you can define and create the joints that
connect the links together, as described in Create joints.

Create joints

Creating joints is the second stage in defining kinematics for a component. A joint connects two links.
There are two types of joints:

• Revolving joint – Rotates around an axis.

• Prismatic joint – Moves linearly along an axis.

Several links can be connected together independently of other links by a parent joint so that when the
parent joint moves it affects the movement of all the links it connects. This is called a closed loop. The
Kinematics Editor is programmed to recognize a closed loop and move it as a single unit.

Note
Create Joint in the Kinematics Editor toolbar is disabled until two links are created and selected.

1. Select one link in the Kinematics Editor and select a second link while holding down the <Ctrl> key.
Create Joint is enabled.

Note
The order in which the links are selected determines the parent/child hierarchy. The first link
selected is the parent link, and the second link selected is the child link.

2. In the Kinematics Editor, click .

An arrow with the default name j1 is displayed between the two selected links in the Kinematics
Editor, and the Joint Properties dialog box is displayed.

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Create joints

3. In the Name field, enter a name for the joint.

Note
Names may only contain letters, digits and underscores, and they must start with a letter.

By default, the first joint created for each component is named j1.
4. Create an axis for the joint by defining its two endpoints, as follows:
• Click From and specify the location of one endpoint of the axis in one of the following ways:

◦ Click a location in the Graphic Viewer (the cursor changes to when selecting points in the
Graphic Viewer).
◦ Click in the required X-, Y-, or Z-coordinate field and specify the location using the up and down
arrows.
◦ Click in the required X-, Y-, or Z-coordinate field and manually enter a location.
◦ Select a point (refer to Create Point) in the Object Viewer
◦ The first endpoint of the axis is created and displayed in the Graphic Viewer.

Note
Set the Pick Intent carefully when selecting joint axis points in the Graphic Viewer. By default,
Snap is selected as the Pick Intent when defining kinematics. When selecting endpoints, it is
recommended to use the and Object Viewing features in order to see location points better in
the Graphic Viewer.

• Click To and specify the location of the other endpoint of the axis in one of the following ways:

◦ Click a location in the Graphic Viewer (The cursor changes to when selecting points in the
Graphic Viewer.)

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 Create joints

◦ Click in the field of the required coordinate and specify the exact position of that coordinate by
using the up and down arrows displayed.
◦ Select a point (refer to Create Point) in the Object Viewer
◦ Click in the field of the required coordinate and manually enter the position of that coordinate.
◦ The second endpoint of the axis is created and displayed in the Graphic Viewer.

Note
While editing the joint properties, the joint is represented by a yellow line in the display and its
direction indicated by a cone symbol.

5. If you wish to configure the joint to be locked, check Lock joint.

You can jog the locked joint directly using the Joint Jog dialog box but it remains at its current joint
value when calculating inverse kinematics.
6. From the Joint type dropdown list, define the type of joint by selecting either Revolute or Prismatic,
as follows:
• Revolute – Rotates the joint around the specified axis.
• Prismatic – Moves the joint linearly along the specified axis.

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Create joints

7. To specify further details for the joint, click Expand .

The Joint Properties dialog box is expanded.

8. To specify movement limits for the joint, select Constant from the Limits type dropdown list and
enter high and low limits in the High limit and Low limit fields. You specify the units and ranges in
Units tab.

High Prismatic joint range: -999999 mm to 999999 mm

Revolute joint range: -999999 deg to 999999 deg
Low Prismatic joint range: -999999 mm to 999999 mm
Revolute joint range: -999999 deg to 999999 deg

• If you select No limits from the Limits dropdown list, no motion limits are specified and the joint
can either revolve continuously around the selected axis, or continuously move back and forth
linearly along the selected axis.

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 Create joints

• If you select Variable from the Limits dropdown list, you can limit the motion range of the leading

and following joints by setting their variable limits. Click to open the Variable Joint Values
screen.

Click to set/edit the representation/color of the points and the lines of the graph as well as the
graph area itself.
You can define up to 100 pairs. The system generates a table of numerical values pairs, in which each
pair constitutes a value of the fixed joint and a corresponding lower or upper limit of the dependent
joint. The pairs, represented as points, form a closed planar polygon, displayed on the right side of
the dialog box.

Note
When Revolute is selected as the joint type, the limit values are displayed in degrees. When
Prismatic is selected as the joint type, the limit values are displayed in millimeters. To view the
limits specified in the Graphic Viewer, the Limit check checkbox must be selected in the Motion
tab.

9. In the Speed field: enter a value in the range of 0.001 mm to 999999 mm for prismatic joints, and
0.001 deg to 999999 deg for revolute joints.
10. In the Acceleration field, enter a value for the acceleration of the joint in the range of 0.001 mm^2
to 999999 mm^2 for prismatic joints, and 0.001 deg^2 to 999999 deg^2 for revolute joints.

Note
Distance is changed according to linear/angular units in the Units tab, and time is always in seconds
for speed and sec^2 for acceleration.

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Create slot joints

11. Click OK.

The joint is created and displayed as an arrow, starting at the parent link and ending at the child link
in the Kinematics Editor.

Note

You can reverse the direction of a selected joint by clicking in the Kinematics Editor. If you
want to see to see the joint move as specified, select Joint Jog. Refer to Joint Jog, for more details.

12. Create as many joints as required by repeating steps 2 through 10 until all the links of the component
have been connected with joints.

Note

You can delete a joint by selecting the required joint and clicking in the Kinematics Editor.

After links and joints have been defined and created for the component, it becomes a device. You can now
add a baseframe and a toolframe to the device, as described in Add baseframes and Add toolframes.

Note
When you select a device, either in the Graphic Viewer or the Object Viewer, other commands
applicable only to devices and robots are enabled.

Create slot joints

A slot joint allows a component to translate along a 2D curve. You can use a slot joint if, for example, the
jaws of a weld gun or a clamp have pins inserted into the slot, as shown. As the pins move upwards in the
slot along the leading curve, the top jaw also moves upwards.

Note
You must create the leading curve before creating the slot joint.

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 When Pin 2 moves around the bend at the top of the slot, Pin 1 remains in the linear part of the slot, and
the top jaw opens.

It is also possible to create a slot joint with two slots, where each pin is inserted into a separate slot.

In these figures, two pins of one link are constrained to move within the slot of another link, or each pin in
a separate slot.

When you create a slot joint:

• The gun must be in modeling scope (refer to Set Modeling Scope).

• The distance between the pins is always fixed.
• The leading curves, pins and offset point must all lie on the same plane. If any of these are not on this
plane, they are projected onto the plane and their projection is used.

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 • The following limitations apply to one-slot joints:
◦ The leading curve must be planar (lying in a single plane), cannot be entirely linear (must have a
linear section or sections and a bend), and must not be a closed contour. You can create the plane
only when these conditions are satisfied.
◦ The leading curve must have a shape such that Pin 1 always remains within the first linear section of
the curve and Pin 2 can reach the end of the curve.

• The following limitations apply to two-slot joints:

◦ The leading curves must be planar and lie on the same plane. You can create the plane only when this
rule is satisfied.
◦ You cannot select the same object for both leading curves but they may both be linear (if this is
desired).
◦ The two pins must be able to move freely (from start to end) along their curves.

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Create a slot joint

Procedure

1. In the Kinematics Editor, select two links that are currently not connected and click . The link you
select first is the parent and the other link is the child.
The Create Slot Joint dialog box appears.

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Create a slot joint

2. In Joint Type, select One slot or Two slots.

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 Create a slot joint

3. Select curves and points. This step varies, according to whether the joint has one slot or two slots:
• For a One slot joint, Leading curve is activated by default.
a. Pick the desired curve in the Graphic Viewer or Object Viewer.
b. Click Pin 1 in the dialog box and pick a point on the leading curve (in the Graphic Viewer) at
which to place Pin 1.

The selected point is marked with an orange cross in the Graphic Viewer.
c. Click Pin 2 and pick a point on the leading curve at which to place Pin 2.

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Create a slot joint

The selected point is marked with an blue cross in the Graphic Viewer.
• For a Two slots joint, Leading curve 1 is activated by default.
a. Pick the desired curve for Leading curve 1 in the Graphic Viewer or Object Viewer.
b. Click Pin 1 and pick a point on Leading curve 1 at which to place Pin 1.
The selected point is marked with an orange cross in the Graphic Viewer.
c. Click Leading curve 2 and pick the desired curve.
d. Click Pin 2 and pick a point on Leading curve 2 at which to place Pin 2.
The selected point is marked with an blue cross in the Graphic Viewer.

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 Create a slot joint

Note
Pin1 (orange) on Leading curve 1, and Pin 2 on Leading curve 2, must be on different
curves.

Note
◦ The Diagram in the top part of the dialog box is synchronized with Parameters in
the lower part. This means that you can activate any parameter by clicking either the
parameter box or the relevant item in the diagram.
◦ After you select one or more valid curves, the system displays a plane to assist you in
visualizing the plane of the slot joint.

4. By default, the offset point is located on the bottom jaw of the gun, which is the point where Offset =
0.
The Value field in the Joint Jog dialog box is the distance traveled by Pin 1 from the Offset point
along the leading curve.

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Create cranks

If you set Offset to any other value, then Value indicates the distance of the opposite gun jaw to the
new offset point.
5. Click OK.

Create cranks

The Kinematics Editor enables you to define cranks using a simple wizard. Cranks are mechanisms with
closed kinematic loops consisting of one independent joint, multiple dependent joints, and four (typically)
links that are joined in a kinematic loop. Process Simulate supports the following crank types:

• Four-bar linkage – A crank consisting of four links and four rotational joints, only one of which is
independent (also known as a RRRR).

• Slider – A crank consisting of three rotational joints and one prismatic joint, for example, a pneumatic
piston.

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 Create cranks

◦ RRRR – 4–bar linkage with four rotational joints (no prismatic joint).

◦ Sliders – Consisting of one prismatic joint and three rotational joints. There are three slider
configurations, differing in the relative positions of their input (driving) joint and fixed link. They
are known as:
◊ RPRR – Slider.

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Create cranks

◊ PRRR – Slider.

◊ RRRP – Slider.

◦ Three Points – Consists of one prismatic joint and six rotational joints (known as three points
because there are three points on the fixed link). An RPRR slider drives an RRRR 4–bar linkage crank.

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 Create cranks

Create cranks using a wizard that takes you step by step through the process, including selecting the type
of crank to be defined, the coordinates of each crank joint, and the entities associated with the links of the
crank. Cranks include the following links:

• Fixed – A link that is not moved by the joints of the crank being defined. (It may, however, be moved by
a joint defined in a different kinematic structure, including another crank.)
• Input – A link moved by an independent joint.
• Coupler and Output – Links with dependent joints that complete the kinematic structure (the three
points crank has three coupler joints).

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Create cranks

1. In the Kinematics Editor, click .

The Create Crank wizard is displayed.

2. Click the icon for the desired crank type and click Next, or double-click the icon.
The Crank Joints page is displayed.

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 Create cranks

3. You can set values for the joints sequentially (RPRR is used as an example):
a. Initially, the Fixed-Input joint is active. Pick a point or object in the Graphic Viewer or an object
in the Object Viewer, or enter X, Y, and Z coordinates directly into the fields.
The selected coordinates are recorded in the Joint Coordinates area on the right. The Coupler-
Output joint becomes active.
b. Pick a point or object.
The coordinates are recorded and the Output joint becomes active.
c. Pick a point or object.
The coordinates are recorded.
Alternatively, you can click any joint in the crank diagram to set its values. The selected joint is
displayed in green.
After setting values for any joint, that joint is displayed in black in the crank diagram.
The crank guiding lines are shown in blue in the Graphic Viewer and the joints are represented by
blue + (plus) symbols.

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Create cranks

4. In some cases, it may be necessary to align the crank in the plane of the parts the crank is designed to
move. To assist you in doing this, you can click Optional custom plane and pick a surface (or frame).
The plane is displayed in the Graphic Viewer.

All the joint coordinates are projected on to this plane and the updated values are used to create
the crank. However, the joint values displayed in the wizard remain unchanged, thus, if you wish to
choose a different plane, you will not be required to redefine these values.
The crank guide lines in the following figure are neither in the plane of the brown part nor in that of
the blue one.

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 Create cranks

However, the following figure shows that after setting the optional custom plane to be the plane of
the brown part, the crank guide lines are all in the plane of the brown part.

The yellow line in the following zoomed-in figure indicates the gap between the selected point for the
crank and its projected point on the custom plane.

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Create cranks

5. If in error you selected joint coordinates that are not all on the same plane (the Next button remains

disabled), you can click Adjust point to the plane defined by other points to move one of the
points to the plane defined by the others (not relevant to slider cranks).

Additionally, if the joints of any crank lie on a straight line, the system issues an error message.
6. Click Next.
The Prismatic Joint Offset page is displayed (for a 4–bar linkage crank, this step of the wizard is
omitted).

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 Create cranks

7. If you wish to offset the prismatic joint, set With offset.

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Create cranks

An offset is required if the prismatic axis of the slider does not lie directly on the line connecting
the slider’s first two joints. For example, in the case of an RPRR slider, the fixed joint and the output
coupler joint.

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 Create cranks

Configure From and To offsets for the prismatic axis.

8. Click Next.
The associate links page is displayed.

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Create cranks

9. To associate links with simulated objects, select each link in the crank diagram in turn and click one of
the following to define the link.
• Link Elements – Select one or more entities that make up the link in the Graphic Viewer or
Object Viewer. The selections are displayed in the Link Elements table.
• Existing Link – Select a link previously defined for a different kinematic chain (or specially defined
for this kinematic chain prior to launching the wizard) from the dropdown list. This option is used
when defining the same object as a link in two different cranks.
10. Click Finish.
The Kinematics Editor displays the links and joints of the new crank.

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 Create cranks

The Kinematics Editor adds a dummy link to complete the loop of the kinematic structure. If you
select a dependent joint and open the Joint Dependency Editor, you can view the formulas created
by the system to automatically operate the joint.

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Add baseframes

Add baseframes

A baseframe specifies the location of the tip of a link in reference to the working frame. All movement
of a device is in reference to its baseframe. A baseframe minimizes the complicated calculations in the
geometry required when moving a device or robot.

1. Click in the Kinematics Editor.

The Set Baseframe dialog box is displayed.

2. Set the baseframe for the device in one of the following ways (the cursor is enhanced with a frame
symbol.):
• Select an existing frame, either in the Graphic Viewer or the Object Viewer.
• Click in the Graphic Viewer to locate the baseframe.
• Select a point in the Object Viewer or click it in the Graphic Viewer.

• Click the dropdown arrow and specify the location of the frame using one of the four
methods available. Refer to Create Frame for more details.
3. Click OK.
The selected baseframe is displayed in both the Object Viewer and the Graphic Viewer.

Add toolframes

A toolframe enables you to mount tools or components on a robot, and distinguishes between a simple
device and a robot. The toolframe is the location where a tool is mounted on a robot and is usually defined
on the last link of a robot.

Procedure

1. Click in the Kinematics Editor.

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 The Create Toolframe dialog box is displayed.

2. Specify a toolframe in one of the following ways (the cursor is enhanced with a frame symbol):
• Click in the Graphic Viewer to locate the toolframe.
• Select an existing frame, either in the Graphic Viewer or the Object Viewer.
• Select a point in the Object Viewer or click it in the Graphic Viewer.

• Click the dropdown arrow and specify the location of the frame using one of the four
methods available. Refer to Create Frame for more details.
3. Click in the Attach to Link field and select a link in the Graphic Viewer to which you want to attach
the toolframe. The selected link is displayed in the Attach to Link field. (The cursor changes to
when selecting links in the Graphic Viewer.)
4. Click OK.
The toolframe is created and displayed in the Graphic Viewer. In the Object Viewer, a toolframe,
reframe and TCP frame are displayed.

After a toolframe has been defined for the device, it becomes a robot. You can now mount a tool or
component on the robot to perform tasks. Refer to Mount Tool, for more details.

Defining joint functions

Joint Dependency editor

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 The Kinematics Function Editor enables you to define functions for kinematic devices that contain
dependent joints. These functions can be used to describe the way the dependent joints move, based
on the movement of other joints to which they are linked.

Procedure

1. Choose Robot tab → Kinematics group → Kinematics Editor .

2. In the Kinematics Editor, select a dependent joint and click .

The Joint Dependency window is displayed.

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 3. Check Independent if you want the selected joint to be independent.
4. If you want the selected joint to be dependent, check Joint Function and use the editing buttons to
define the joint function describing the dependency.
5. Coupling is enabled if you are editing compound kinematics. Select this option if you want to define
dependency between the selected joint and a joint of a sub device in the device hierarchy.
• From Leading Joint, select the joint upon which to base the dependency.
• In Factor, enter a dependency factor. For example, if the leading joint of the sub device is rotated
by 3 degrees and you entered a factor of 5, the joint is rotated by 15 degrees.
6. Click Following to create and edit following joints (or multiple following joints) for a single
component. Set the Follow Factor according to which the following joint moves relative to the
leading joint (e.g., when jogging the leading joint). You can jog the following joint to make it move
independently of the leading joint. The leading and following joints can be of different types.
7. Click Apply. The joint function is applied to the dependent joint. See Functions syntax

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Functions syntax

Functions syntax

functions

A function-joint function consists of an expression expr surrounded by double quotation marks " ", i.e.,
"expr".

When expr includes a reference to an independent joint, that reference can assume any of four different
forms:

t# d#

Designate a rotational or prismatic joint, respectively, numbered # in the order of the joints as determined
when the mechanism is defined by the mechanismdefine command. This order is determined by the
system and is subject to change if the mechanism is subsequently redefined. The maximum allowable
number of joints is 64.

T(name) D(name)

Designate a rotational or prismatic joint, respectively, specified by its name determined when the joint was
defined or as subsequently renamed by the user.

The format of expr itself has one or more of the forms listed below. In all of the forms, the spaces as shown
are optional; thus (mnp) and ( mnp ) are equally valid.

string

One of seven forms enclosed in parentheses ( ):

Denavit-Hartenberg parameters: one of a i o c s d t f followed by one or more digits from 1 to 9. Examples:

(a1), (s5), (t32). The digit 0 cannot be the first digit: (d08) is not allowed.

TCP matrix: one of n o a p followed by one of x y z. Examples: (nx), (ay).

Inverse TCP matrix: m followed by one of n o a followed by p. Examples: (mnp), (map).

Tool matrix: h followed by two digits each in the range 0 to 3. Examples: (h10), (h33).

Base matrix: b followed by two digits each in the range 0 to 3. Examples: (b03), (b32).

0 or ±1: 0 or 1 or –1. Examples: (0), (−1).

Sine or cosine abbreviation: Uppercase S or C for rotational joints, or lowercase s or c for prismatic joints,
followed by one or more digits from 0 to 9, to express the sine or cosine of the specified joint in radians.

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 Functions syntax

This expression abbreviates references to joints in the format d# or t#; it does not abbreviate expressions
using D(name) or T(name). Examples: (S9) means (sin(t9)) for rotational joint 9; (s9) means (sin(d9)) for
prismatic joint 9. (C1) similarly means (cos(t1)) and (c1) means (cos(d1)). An expression like (sin(T(j2)))
cannot be abbreviated.

( number )

A real number. A minus sign – is prefixed if the value is negative. If the value is a decimal fraction a decimal
point . is appended and followed by one or more digits; if the fraction is less than 1 the leading zero may
be omitted. If the value is a whole number the .0 portion may be omitted. Examples: (–0.21), (–.21),
(200.03), (762).

sin | cos | tan ( expr )

The respective trigonometric value of expr in radians. Examples:(sin(t3)), (cos(T(j3))), (tan(D(j1)/a3)).

asin ( expr )

The arc sine of expr, returning values in the range −π/2 to π/2. Example: (asin(nx)).

acos ( expr )

The arc cosine of expr, returning values in the range 0 to π. Example: (acos(nx0y–ny0x)).

atan ( expr )

The arc tangent of expr, returning values in the range −π/2 to π/2. Example: (atan(31.7)).

atan2 ( expr1,expr2 )

The arc tangent of expr1/expr2, returning values in the range −π to π. Example: (atan2(31.7,1.7)).

sqrt ( expr )

The square root of expr≥ 0. Example: (sqrt(4)).

ln ( expr )

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Functions syntax

The natural logarithm of expr≥ 0. Example: (ln(4)).

exp ( expr )

Expr constituted as an exponent. Example: (exp(2)).

pow ( expr1,expr2 )

Expr1 raised to the power expressed by the exponent consisting of expr2. Example: (pow(10, 2)) returns
100.

abs ( expr )

The absolute value of expr. Example: (abs(–3)) returns 3.

floor ( expr )

The largest integer not greater than expr. Example: (floor(27.9)) returns 27.

ceil ( expr )

The smallest integer not less than expr. Example: (ceil(27.9)) returns 28.

int ( expr )

The integer portion of expr; the fractional portion is truncated. Example: (int(27.9)) returns 27.

sgn ( expr )

The sign of expr, returning 1 if expr is positive, –1 if expr is negative, and 0 if expr is zero. Example:
(sgn(−3)) returns –1.

! ( expr )

Not expr, where expr is Boolean.

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 Functions syntax

rad ( expr )

The conversion of expr to radians.

deg ( expr )

The conversion of expr to degrees.

( expr1 expr2 )

( expr* expr2 )

The product of expr1 and expr2; the sign * is optional.

( expr1 + expr2 )

The sum of expr1 and expr2; expr2 may itself be a sum of two or more expressions. Example: (2+(3+(−3)))
returns 2. The parentheses are required.

( expr1 /expr2 )

The quotient of expr1 divided by expr2; expr2 may be a sum of two or more expressions. Example:
(6/(1+2)) returns 2. The parentheses are required.

( expr1% expr2 )

The remainder of expr1 divided by expr2; expr2 may be a sum of two or more expressions. Example: (9%7)
returns 2.

( expr1 == expr2 )

( expr1 != expr2 )

( expr1 >= expr2 )

( expr1 <= expr2 )

( expr1 > expr2 )

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Pose Editor

( expr1 < expr2 )

Return 1 if the indicated comparisons are true, 0 if the comparisons are false.

( bexpr1 && bexpr2 )

Boolean and: evaluates Boolean expressions bexpr1 and bexpr2 in the order given and returns 1 if they are
both true, 0 otherwise. If bexpr1 is false, this function returns 0 and exits without evaluating bexpr2.

( bexpr1 || bexpr2 )

Boolean or: evaluates Boolean expressions bexpr1 and bexpr2 in the order given and returns 0 if they are
both false, 1 otherwise. If bexpr1 is true, this function returns 1 and exits without evaluating bexpr2.

Implementation notes:

• The Process Simulate function-joint implementation is heavily dependent on nested parentheses. When
formulating a formula, ensure that the parentheses are properly placed and balanced.
• The command line and editor commands verify user-supplied functions and issue error messages if the
syntax is incorrect.

Pose Editor

This video demonstrates how to use the Pose Editor.

Note
Videos are not included in PDF. To access videos, use HTML.

The Pose Editor command enables you to create and save new poses for devices and robots, and edit and
delete existing poses.

You can save a pose in the Pose Editor and later return a device or robot to the pose at any time.

Poses are defined according to joint values which can be displayed in the Joint Jog dialog box. You can
use the Pose Editor to create new poses, edit and delete existing poses, and move a device or robot to a
selected pose.

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 Select either a device or robot and choose Robot tab → Kinematics group→Pose Editor to open the Pose
Editor.

Note
• The HOME pose is the original position that the device or robot was in when its kinematics were first
defined. By default, the HOME pose is always displayed in the Pose Editor. You can update the HOME
pose but you cannot delete it.
• Bold text is used for prototype poses, distinguishing them from instance poses.

From the Pose Editor, you can do the following:

• Add a new pose.

• Select a pose and click Edit to modify the parameters of the selected pose.

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 The Edit Pose <robot_name> dialog box opens, enabling you to edit the currently selected pose in the
Pose Editor. Pose name is populated with the name of the pose you chose to edit. You can change this
name if you wish. After modifying the pose, click OK to save the changes.
• If you used Joint Jog or Robot Jog to move the selected device, you can select any pose from the Poses
list and click Update to set the selected pose to the current pose of the device.
• Select one or more poses and click Delete to delete them.
• Select a pose and click Jump to jump the selected device or robot to the selected pose.
• Select a pose and click Move to move the selected device or robot to the selected pose. The robot or
device is moved in a simulation that allows you to detect if any collisions occur on the path to the
selected pose.
• Click Reset to return the selected device or robot to the pose it was in when you opened the Edit Pose
dialog box.
• Edit pose names in the Poses list by clicking a name twice, or click to select it and then press F2.

Note
The following are affected by gun poses:

• OLP Controllers
• Weld Simulation Engine
• Upload Robcad Program

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 • Automatic Path Planner

These commands require welding-gun poses having the following system-reserved names: OPEN,
SEMIOPEN, and CLOSE (capitalized and spelled exactly as shown).

To create a new pose:

Procedure

1. In the Pose Editor, click New. The New Pose <robot_name> dialog box is displayed with a list of the
joints of the selected device or robot.
Pose name is populated with a unique default name.

2. In each joint field, specify a value for the joint position either by entering it directly in the field or by
using the up and down arrows.
3. In Pose name, edit the default name.
4. Click OK. The selected device or robot moves to the new pose and the new pose is saved and
displayed in the Pose Editor dialog box.

Mark Pose

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 The Mark Pose command enables you to save the current position of a device or robot as a pose. The pose
is automatically saved in the Pose Editor.

Procedure

1. Move a device or robot to a required position using Joint Jog.

2. Choose Robot tab → Kinematics group → Mark Pose .The pose is automatically saved in the
Pose Editor.

Tool Definition

This video demonstrates how to define tools:

Note
Videos are not included in PDF. To access videos, use HTML.

The Tool Definition command enables you to define a device or mechanism as a tool, for example, a gun.
In this sense, a tool means an object that can be attached to a robot to enable it to perform a task such as
welding.

Note
• For compound devices, only sub assemblies can be used as non-collidable entities.
• If the selected resource has no defined kinematics, Process Simulate alerts you that there are no
kinematics and offers to create minimal default kinematics. Click OK to proceed.
• If the component is not open for modeling, Tool Definition only opens in view mode. For information
on how to do this, see Set Modeling Scope.
• In the following example, the system has created DLink1 and DLink2. These are dummy links and are
also viewable in the Kinematics Editor.

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 Procedure

1. Select the device that you want to define as a tool, either in the Graphic Viewer or the Object
Viewer, and choose Robot tab → Kinematics group → Tool Definition .
The Tool Definition dialog box is displayed.

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 2. From the Tool Type dropdown list, select the type of tool that you want to define from the following:
• Gun - Use for tools controlled by external controllers. Guns are controlled by defining the "Gun
State" (Open, Close, Semi-Open)
• Servo Gun - Use for tools controlled by the robot controller. Servo Guns are controlled by defining a
"Servo Value".
• Pneumatic Servo Gun - Use for tools controlled by external controllers. Pneumatic Servo Guns are
controlled by defining a "Gun Position" (X[mm]).
• Gripper - Use for tools which are used to transport parts.
• Paint Gun - Use for Paint applications. See Create paint Trigger. When this Tool Type is selected,
you can select a Gun tip frame. The gun tip frame is the frame at the tip of the Paint Gun - it moves
along the part where the paint touches the material.

Note
Pneumatic Servo Gun joints are not defined as robot external axes, so the Pneumatic Servo Gun is
controlled by OLP commands.

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 Set Gripped Objects List

3. In the TCP Frame field, create the tool center point (TCP) frame for the tool or specify it by selecting a
frame from the dropdown list, either in the Graphic Viewer or in the Object Viewer. This frame is the
point at which the robot carries out the action.

Note
You can temporarily modify the position of the selected frame by clicking the dropdown arrow next

to the Frame of Reference button and specifying the new location of the frame using one
of the four methods available.

4. In the Base Frame field, create the the baseframe for the tool or specify it by selecting a frame
from the dropdown list, either in the Graphic Viewer or in the Object Viewer. The base frame is the
attachment point of the tool to the robot.

Note
You can temporarily modify the position of the selected frame by clicking the dropdown arrow next

to the Frame of Reference button and specifying the new location of the frame using one
of the four methods available.

5. In the Do not check for collisions with area, specify the objects which are likely to be in contact with
the tool (for example, with the tips (or caps) of gun arms or of grippers) by selecting them in the
Graphic Viewer. This means that collisions between the specified objects and the tool are not checked
for. However, if you enabled Emphasize Collision Set in the Collision Viewer, the Graphic Viewer
displays these objects upon collision in a lighter shade of the Emphasize color.
6. Select the Highlight List checkbox to color in yellow each entity in the Do not check for collisions
with area in the Graphic Viewer.
7. If Gripper was selected as the tool type, specify the objects that act as the gripping entities from
the Graphic Viewer. These objects appear in the Gripping Entities area. Gripping is done according
to collision detection between the gripping entities defined for the gripper and any physical object
(part, resource). If the Offset is set to 0, collision detection is activated when the gripper contacts the
object. Assigning a value activates collision detection at that distance from the object.
8. Select the Highlight List checkbox to color in cyan each entity in the Gripping Entities area in the
Graphic Viewer.

Note
An entity may be listed in either the Do not check for collisions with list or the Gripping Entities
list, but not both simultaneously.

9. Click OK. The selected device is defined as a tool.

Set Gripped Objects List

The Set Gripped Objects List command enables you to define a list of objects that can be gripped by
(attached to) a gripper. When the list is enabled, the gripper can grip any object with which it is in a state
of collision and defined in the list, but it cannot grip objects not defined in the list. By default, the list is

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Set Gripped Objects List

disabled and the gripper is able to grip any object with which it is in a state of collision. The list is relevant
to a specific instance of a gripper for all grip actions (gripper operation, pick and place operation, and
grip action of a Logic Behavior) and only for the current scene. The list can include any collidable object,
excluding the gripper itself.

For example, if you have mounted a gripper on a robot, you may wish to simulate moving a part resting on
a stand. When the Gripped Objects List is enabled, the gripper grips only objects that are both in a state of
collision with the gripper and included in the list. Therefore, if you define the part in the Gripped Objects
List and omit the stand, the desired result is achieved and the robot moves the part to the destination. By
default, however, the Gripped Objects List is not enabled. In this case, the gripper grips any objects that are
in a state of collision with the gripper. Because the stand also collides with the gripper, the gripper moves
the part together with the stand.

1. To configure the Gripped Objects List, choose Modeling tab → Device group → Set Gripped Objects

List .
The Set Gripped Objects dialog box is displayed.

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 Set Gripped Objects List

2. By default, All objects is checked. If you wish to define objects for the gripper, check Defined list of
objects.
3. Click one or more objects in the Graphic Viewer, Object Viewer.
The objects are added to the Object list.
4. Click OK.

In order to grip objects that are under the same compound resource as the gripper, you can use Set
Gripped Object List to define the objects to be gripped. Configure the Gripped Objects list to include the
specific objects to be gripped.

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Set physical properties of objects

Set physical properties of objects

The Process Simulate Physics Engine enables you to perform simulations on objects while accounting for
their real physical properties. For example, if a gripper releases a part, the part falls to the floor. If parts
collide, the system simulates the collision according to the parts' relative weights and the materials of
which they are composed. To activate the physics engine, open Objects Physical Properties and click .

You can define Objects Physical Properties of parts which affect their behavior during simulation by the
physics engine. Parts without physical property definitions or those marked as Inactive are ignored by the
physics engine. Parts whose Type is defined as Static are considered for collision only, and those defined
as Dynamic are considered for their other physical properties. For example, you can set the material of an
object to be Metal, in which case it behaves as a hard object and falls to the floor if left unattached in the
air. When your configuration is complete, the physics engine recalculates physical properties according to
the Time step parameter in the Simulation tab.

Procedure

1. Choose Modeling tab → Physics group → Objects Physical Properties (Beta).

2. Pick objects in the viewers and click to add them to the Objects Physical Properties list.
3. In the check mark column, select objects to activate during simulation, and clear those to omit from
the simulation.

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 Note
All the parameters of the cleared objects are retained so that you can activate the objects in
another simulation.

4. For each object, set Type to one of the following:

• Dynamic—The physics engine computes motion of dynamic parts during simulation, taking into
account gravity, collision with other objects, and material properties.
• Static—The physics engine does not calculate motion for static objects, but static objects can
move if commanded to do so by other commands. The physics engine still calculates the material
properties of static objects. Thus static objects participate in the simulation but do not fall
downwards if unsupported and always remain stationary during collisions. This is useful for floors,
walls, and so on.

Note
If a dynamic object becomes a simulated object (for example, in the next operation) or an
attached object (for example, by the application of an OLP command), it becomes static for
the duration of this condition. In this case, any dynamic object coming into contact with it is
repulsed to avoid a state of collision.

5. Set the Decomposition level for each object to Off, Very coarse, Coarse, Medium, Fine, or Very
fine.
This parameter determines the extent to which the algorithm divides up the selected object into
discrete parts.

This example shows the original part and then the result of configuring different decomposition
levels. There is a tradeoff between accuracy and performance.
See also Convex decomposition.

6. Click Decomposition level to instruct the physics engine to take the decomposition level into
consideration or clear it to ignore the decomposition level.

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Convex decomposition

7. Select a Material for each object. The available materials are wood, metal, plastic, glass, ABS, and

stainless steel.You can also click Material Editor to edit the parameters of additional materials.
8. You can right-click multiple objects and set a parameter to configure them all in a single action.

9. Click Physics Mode to activate the physics engine. When active, the simulation takes physical
parameters into consideration and when inactive, they are ignored.

Convex decomposition

Convex decomposition is the process of dividing a concave rigid body into a collection of smaller convex
objects. When taken together, this collection of convex objects reproduces the original concave body. The
Convex decomposition command enables you to decompose objects for accurate computation by the
physics engine. If accuracy is not critical, and for improved performance, the physics engine can use the
convex hull of the original rigid body.

Procedure

1. Choose Modeling tab → Physics group → Convex decomposition (Beta).

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 2. Pick an Object to be the subject of the convex decomposition action.
3. Set the Scope. This is the entity under which the resulting objects are nested. It can be the same
object you are decomposing or it can be any other object. The scope object must be in modeling
scope.

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 4. Set the Level of details. Possible values are: None, Very coarse, Coarse, Moderate, Fine, and Very
fine.
If you expand Settings, you can see the values of the three parameters for each of these settings. You
can also fine-tune these parameters by moving the sliders or entering new values.

When you use a high Level of details, the decomposition takes longer.
5.
In Display options, set the Color to Multi color or Default.
6. Click Decompose.
The result is shown in the Graphic Viewer with the decomposed parts nested in the Object Viewer
under the Scope you specified.

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 The following figure shows the result of setting various levels of decomposition.

Notes

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Adding notes to engineering data

Adding notes to engineering data

The Notes option enables you to create and attach explanatory notes to objects or groups in the Graphic
Viewer. This is useful to clarify complicated engineering data or as a way to pass information about objects
to other designers or departments. It includes the following tools:

Butto
n Command Description
Toggle Note Enables you to toggle the display of a note, to show either the entire text
Visibility or just a flag. Refer to Toggle Note Visibility.

Note
You cannot toggle the visibility of notes nested under a component.

Create Note Enables you to create a new note that can be associated with an object
or a floating note (not associated with an object). You can set the note's
text and name via the dialog box opened by the command. Refer to Create
Note.
Edit Note Enables you to modify an existing note. Refer to Edit Note.

Note
You cannot edit notes nested under a component.

Object Notes Enables you to create a note that is that is attached to each of the selected
objects. The notes' name and text are automatically calculated by the
command. Refer to Objects Notes.

Toggling note visibility

You can display an entire note including text or just a flag to show its location, as shown below:

Select a note, either in the Graphic Viewer or the Object Viewer, and choose Modeling tab → Note

group → Notes and select Toggle Note Visibility in the dropdown list to switch between views.

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 Create notes

Note
You cannot toggle the visibility of notes nested under a component.

Create notes

Using the Note Editor, you can add electronic work instructions or explanatory notes to selected objects in
the engineering data. You can also flag problems on specific objects.

Procedure

1. You can select an object in the Graphic Viewer as well as a group in the Object Viewer and choose
Modeling tab → Note group → Notes and select Create Note from the dropdown list.
The Note Editor dialog box is displayed with the name of the selected object in the Object field.

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 Note
Alternatively, you can select Create Note to display the Note Editor dialog box, and click in the
Object field and select the required object in the Graphic Viewer or the Object Viewer.
You cannot create notes nested under components even for components that are open for
modeling.

2. In the Name field, enter a name for the note. By default, the note is named note#.
3. In the Text area, enter the required text for the note.
4. Click Preview to see the text displayed in a note in the Graphic Viewer (or as a floating note if no
object is selected).
5.
6. (Optional) In the Appearance area:
• Click Leader line (selected by default) if you wish to deselect the option and hide the line that
connects the note to its object in the Graphic Viewer. Click the option again if you wish to display
the line. The option's selected/deselected status when you close the Note Editor dialog box is
retained the next time you open the dialog box.
• Click Keep size while changing zoom (selected by default) if you wish to deselect the option and
allow the note to change its size according to zooming the view in the Graphic Viewer. Click the
option again if you wish to maintain its size in the Graphic Viewer despite zooming. The option's
selected/deselected status when you close the Note Editor dialog box is retained the next time you
open the dialog box.
7. (Optional) Click Preview to see the text displayed in a note in the Graphic Viewer and the results of
the Leader line and Keep size while changing zoom options.
8. Click OK. The note is displayed in the Graphic Viewer attached to the selected object and in the Notes
(folder in the Object Viewer).

Note
After creating a note, you can modify the color of the text, background and flag border using the Modify
Color command in the View tab. Use the Appearance tab to change the default note colors.

Notes can be moved to new locations in the Graphic Viewer by clicking and dragging them.

Edit notes

Once a note is created, as described in Create Notes, you can modify the text or delete the note.

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 Note
You cannot edit notes nested under components even if the note's parent component is open for
modeling.

Procedure

1. Select the note, either in the Graphic Viewer or the Object Viewer.

2. Choose Modeling tab → Note group → Note and select Edit Note from the dropdown list. The
Note Editor dialog box is displayed.
3. Modify the text of the note, as required.
4. Click OK to save your changes.

You can delete a note by selecting the required note, either in the Graphic Viewer or the Object Viewer,

and then clicking .

Note
• Deleting the object to which a note is attached also deletes the note.
• You cannot edit notes nested under a component.

Object notes

Procedure

1. Select one or multiple objects, either in the Graphic Viewer as well as a group in the Object Viewer,
and choose Modeling tab → Note group → Notes and select Object Notes from the dropdown list. A
note containing the name of the selected object is created at each location you picked.
Or
Make sure you have not selected any object in any viewer, activate the Object Notes command, and
click each object for which you wish to create object commands. An automatic note (open flag with
text) is displayed in the Graphic Viewer at the location you picked on each object. Press <Esc> or
launch another command to exit the Object Notes command.

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 Note
By selecting the top node in an Object Viewer (compound operation, generic robotic operation,
etc.) the command creates object notes for each location under the top level node.

2. To Edit notes, right-click the note and select Edit Note to open the Note Editor.

Note
You can adjust the font size of Object Notes in the Appearance tab .

Customizing notes

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 The Customizable Notes feature allows you to add additional free text and attributes to the automatically
generated Object notes. This additional information is displayed in the Object note. Both the administrator
and a user can customize notes. Customization can be applied to parts, resources, MFG's and all other
objects that inherit them. Before applying a customization, the customization rules should be defined in
the Notes Settings dialog box.

Note
If the user has not defined customization for notes, the administrator's customizations are used. When
no customization is defined, the default customization note text is the object name.

Customizations made by the administrator are not distributed automatically. The administrator must
distribute a customization file and users must save this on their computers. When a user defines a
customization for any object type or creates automatic note flag placement margins, administrator
customizations are no longer available (even for types for which the user did not define customizations).

Procedure

1. To define note customization, choose Modeling tab → Note group → Notes and select Note Settings

from the dropdown list. The Note Settings dialog box is displayed.

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 2. Configure settings for the minimal distances in the Automatic Note Flag Placement Margins area.
3. From the Note Format combo box, select the object for which you want to set the note format. The
available formats are Part, Resource, MFG and their subclasses.
After selecting the object type, it is displayed in Object Type at the bottom of the dialog box.

Note
If you select a PLP object, both PLP and PLP Usage appear in Object Type and you can select
attributes for both these object types.

Object Type is a list of the base class elements that posses valid
properties. These are defined in TcPsMappingConfiguration.xml, located by default at
<installation_directory>\eMPower\TeamcenterIntegration\dat\.
For each object type, Attribute only contains the attributes defined in the mapping file for itself or
one of its base classes.

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 Note
Object types or attributes with display names containing the following characters [, ], or - are
displayed using the characters {, }, or _.

4. Type into the text box any free text you require. In addition to the free text that you type, attributes
for the selected object can be added to the note.
5. From the Attribute list box select the required attribute and click Add. The attribute is added to the
free text in the text box. It is added with parenthesis around the attribute name and cannot be edited.
You can add any number of attributes to the customization as you require.

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 6. Click Apply to save the Customization for the selected object and all objects inherited from it.

Note
You can enable Right-to-left text direction according to your requirements.

7. Click OK to apply the changes and close the dialog box.

Creating an Object Note

Once you have defined a customized note for a particular object, you create the note for the selected
object by loading a scene, selecting the object for which you want to create a note, choosing Modeling
tab → Note group → Notes from the dropdown list, and selecting Object Notes . The note is generated
according to the customization.

Changing the customization for existing object notes

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 If you change the attributes or text of a customized note, the updates are not reflected in the note
displayed in the Graphic Viewer automatically. You must click the update notes button to update the
changes on the screen. When you update existing notes with an updated customization, the application
retrieves all selected notes and regenerates the notes according to the customization defined in the Note
Setting dialog box. To select all cell notes you can open the Object Viewer and select all the notes in the
tree. All notes edited manually will lose data after the Object Notes update is performed.

Procedure

1. Load the selected scene.

2. Select the required notes to update and choose Modeling tab → Note group → Notes and select

Update Object Notes from the dropdown list. The selected notes are updated.

Location notes

The Location Notes command creates notes for selected objects. The note contains the object name and
its location relative to the working frame.

Procedure

1. Choose the Modeling tab → Notes group → Notes and select Location Notes from the
dropdown list.

Note
By selecting the top node in an Object Viewer (compound operation, generic robotic operation,
etc.) the command creates location notes for each location under the top level node. Similarly,
using the command for a weld operation creates an location note for each of its locations.

2. You can select one or more objects from the Graphics Viewer or the Object Viewer before clicking
the command icon, or first activate the command and then select objects. The system displays notes
attached to each selected object.

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 3. You can drag the notes in the Graphics Viewer if they overlap one another to enable visibility.

The note text cannot be edited, but it updates automatically if there is a change to the object’s caption,
location or working frame.

Automatic note flag placement

Once you have created notes a flag is created indicating the presence of a note. These flags have no
indication on the content of the note, but rather indicate that a note exists for a particular object or group
of objects. You may hide the notes using the Hide note option, or you can use the Automatic Note Flag
optimization function to rearrange multiple notes in a manner in which the flags do not overlap each other
and are easily accessible. You can use this function to rearrange object notes for all types of objects, and it
is also effective for floating notes.

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 Optimizing note flag placement

Optimizing note flag placement

Before activating the Automatic Note Flag Placement command, you must set the command parameters
in the Note Settings dialog box, which will control the results of the replacement of the flags. Once
the parameters have been defined, you can apply the command to your current scene. When your scene
is in the desired view, after rotation and zoom, you must select the objects whose flags you want to
automatically rearrange. At this point you are able to change the notes content, change its position,
or create additional notes. You can access the Automatic Note Flag Placement command from the
Modeling tab, or from the Image Properties dialog box.

To set the parameters:

Procedure

1. Choose Modeling tab → Note group → Notes and select Note Settings from the dropdown
list.
The Note Settings dialog box is displayed.

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 2. Enter the required parameters.
• A - Distance from Edges: The distance of the Notes flags from the edges in pixels
• B - Minimal vertical distance: The minimal vertical distance between the flags in pixels
• C - Minimal horizontal distance: The minimal horizontal distance between flags in pixels.
• D - Minimal distance from origin: The minimal distance in pixels, from the flag's origin point to the
flag itself.

Note
The minimal distance from the edges is the distance measured from the edges of the Graphic
Viewer boundary.

3. Click OK to save the settings and close the dialog box.

To automatically rearrange note flags:

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 Procedure

1. Zoom into the object you require.

2. Select the Note flags you wish to rearrange.

3. Choose Modeling tab → Note group → Notes and select Automatic Note Flag Placement
from the dropdown list.
The selected flags are rearranged so as no flag overlaps another. In the case that certain flags still
remain overlapped after you have rearranged them, you may have to do some manual fine tuning.

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Create Dimension

Note
The command is effective on all selected flags. Hidden flags are not affected by the command. If no
flags are selected, all flags in the window will be repositioned.
Automatic note flag placement does not affect notes nested under components. You must
manually reposition flags of notes nested under components. You must also manually reposition
flags of object notes and floating notes that are blocked by or too close to notes nested under
components.

Create Dimension

The Create Dimension option enables you to create dimensions between two selected objects and store
them as part of the engineering data. Each dimension consists of lines or arcs between the selected
objects and a measurement. Multiple dimensions can be created and added to a project, as required.
Unlike the Measurement tools on the Graphic Viewer, enabling you to reference them as needed. In
addition, dimensions are dynamic, which means that their values are updated automatically if the objects
they measure are moved to new locations in the Graphic Viewer. You can also create a snapshot of the
view in the Graphic Viewer or of the Section Viewer (if open) and save it to the study node as a graphic
file attachment.

Choose Modeling tab → Note group → Create Dimension and select any of the following:

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 Button Tool Description
Point to point Distance Creates a dimension displaying
the point to point distance
between two objects.
Minimal Distance Creates a dimension displaying
the minimal distance between
two objects.
Angular Dimension Creates a dimension displaying
the angle between two objects.
After activating the command,
select in the Graphic Viewer two
planer faces, two linear edges, or
a planar face and a linear edge
that lay on intersecting planes/
lines.

The dimension is dynamic - if you

move one of the participating
objects, the dimension is
updated. You can drag the
dimension to manipulate its
location - the dimension is moved
in the plane of measurement.
Blanking/deleting the component
which one of the participating
objects comprises blanks/deletes
the dimension.
Linear Dimension Creates a dimension displaying
the linear distance between two
parallel objects. After activating
the command, select in the
Graphic Viewer two parallel
planer faces, two parallel linear
edges, or a planar face and
a linear edge parallel to the
selected face.

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For example, to create a point to point dimension:

The dimension is dynamic - if you

move one of the participating
objects, the dimension is
updated. You can drag the
dimension to manipulate its
location - the dimension is moved
in the plane of measurement.

Blanking/deleting the component

which one of the participating
objects comprises blanks/deletes
the dimension.
X-Axis Distance Creates a dimension displaying
the distance along the X-axis
between two objects.
Y-Axis Distance Creates a dimension displaying
the distance along the Y-axis
between two objects.
Z-Axis Distance Creates a dimension displaying
the distance along the Z-axis
between two objects.
Normal to Source Curve Measures the distance from curve
Dimension to curve.
Normal to Target Curve Measures the distance from point
Dimension to curve.
Curve Length Dimension Measures the distance from point
to point.

For example, to create a point to point dimension:

Procedure

1. Choose Modeling tab → Note group → Create Dimension and select Point to Point dimension

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 For example, to create a point to point dimension:

2. Click the two objects between which the measurement should be taken.
A new dimension, represented by a line with arrows and the measurement value, is displayed
between the objects in the Graphic Viewer.

Note
The measurement unit is based on the settings in the Units tabs .

In the example above, the top measurement displays the Y-axis distance between the two objects.
The bottom measurement displays the point-to-point distance between two objects. If the objects
being measures are moved in the Graphic Viewer, the dimension values related to those objects
update automatically.
The dimension object is added to the Object Viewer.

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 3. If required, click and drag the white line to move the measurement to a more visible location in the
Graphic Viewer.

Note
If you blank an object in the Graphic Viewer, any dimensions related to the object are also
blanked. To re-display a dimension that was blanked, you must select the empty square next to
the dimension in the Object Viewer.

Note
Deleting an object deletes any dimensions related to that object.

To Configure Dimension Color

You can change the color used to display dimensions, dimension text and the background of dimension
text.

Procedure

1. Choose File tab → Options and select the Appearance tab.

2. From the list, display the options under New Objects Colors and select Dimension, Dimension Text
or Dimension Text Background.
3. Click the color palette button to change the current setting.
The system continues to use the new colors for all subsequent dimensions, dimension text or
dimension text background that you add in the Graphic Viewer or Section Viewer.

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 Normal to Curve Distance

Normal to Curve Distance

The Normal to Curve options enable you to measure the distance in a section normal to a section line:
Either normal to a source curve or normal to a target curve.

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 To create a Normal to Curve dimension:

Procedure

1. Click one of the Normal to Curve icons (either Normal to Source Curve or Normal to Target Curve

or Curve Length ).
2. Click to indicate the first point and then the second point and the system adds the dimension.

Note
If you select a point that does not exist on the normal, the system displays an error message:

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 Cables

Cables
Robots are often equipped with external cables routed along the robot body. It is necessary to take cables
into account when running simulations to avoid damaging them. You can configure cable parameters so
the simulated cable resembles and acts like the cable on your shopfloor robot. If necessary, you can attach
the cable to the robot body to hold it in place.

Note
To ensure accurate cable simulation, it is recommended to set the Time Interval (for example, in the
Sequence Editor) to be less than or equal to 0.02 seconds.

This video demonstrates basic use of cables.

Note
Videos are not included in PDF. To access videos, use HTML.

This video demonstrates adding attachments to cables.

Note
Videos are not included in PDF. To access videos, use HTML.

Generating and editing cables

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 Procedure

1. Create frames at the start and end points between which you wish to route the new cable and at the
points at which you wish to attach the cable to the robot. Use Create Frame to create frames. If you
already have appropriate frames for the cable, you can omit this step.
You can use Attach or Detach Components to attach the frame to the robot's body or you can do
this later when creating the cable.

Note
• The cable is routed along the Z-axis of the frame. The Z-axis of the Start and attachment frames
should point in the desired cable direction towards the End frame. The Z-axis of the End frame
should point in the desired cable direction towards the Start frame.
• If the Z-axis is in a state of collision with the robot, you cannot complete the creation of the
cable. It is therefore recommended to ensure that the Z-axis points away from the robot.

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 2. Choose Modeling tab → Cable group → Cable Editor .
The Cable Editor dialog box appears.

3. Fill the Name field by typing a cable name or selecting a cable in the Graphic Viewer.
4. Pick a Start frame and an End frame for the cable.

5. Attach the frames to the robot body by clicking and selecting the relevant part of the robot.

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 Note
You can do this at any stage.

6. Set the cable Length. A message is displayed at the bottom of the Create Cable dialog box informing
you of the minimum length required to create the cable.
7. Set the cable Radius. The thicker the cable, the stiffer it is, and the more it will resist the pull of
gravity.
8. Configure the cable Parameters, as follows:
• Density (kg/m^3)—The density of the cable material. This enables you to control the weight of the
cable and affects how it reacts to gravity.
• Young's Modulus—Enables you to adjust the stiffness of the cable. Young's Modulus describes
the stiffness of a solid material. The higher the value, the stiffer the cable and the more it will resist
the pull of gravity. The possible range of values is 0.1 to 1000 Mpa and the default value is 1 MPa.
• Fulcrum length—Enables you to set a straight length of cable at the beginning and end of the
cable. Additional straight cable lengths are created at each point the cable is attached to the robot
(the attachment point is at the center of the straight cable length).

• The following options allow you to configure various cable parameter limits, beyond which the
system designates the cable as invalid with a specific color. In case more than one limit is

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 exceeded, the system assigns the color of the limit with the highest priority. The limits are ordered
in the Cable Editor in order of priority: Max tension with the highest priority and Min curvature
with the lowest.
◦ Max tension enables you to configure the maximum tension the cable is able to bear.

◦ Max twist enables you to configure the maximum amount of cable twisting allowed, in
angular units per meter. For example, if the robot TCPF rotates, you may want to allow the cable
to twist twice around the robot's arm but no more.

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 ◦ Max contact force enables you to configure the maximum force that can be exerted on the
cable. For example, if the robot arm comes into contact with the cable, you may want to limit
the force exerted on the cable to prevent damaging it.

◦ Min curvature enables you to configure the minimum curvature radius for the cable. Bending
the cable beyond this point may cause it damage.

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 • Pass near—Enables you to pick a frame for routing. The cable is routed via the vicinity of the
selected frame during cable creation. This is useful for example, if you wish to route the cable away
from a particular joint. This constraint is not retained when the robot moves or during simulation.
Locate the Pass near frame close to the expected cable route (and never distant from it).
• Oscillation—Enables you to simulate cable oscillation. If the cable is slack, it is likely to oscillate
back and forth when the robot stops moving. This setting enables you to set a percentage value
for oscillation to best imitate the physical cable. For example, if the physical cable has high internal
friction, this will tend to dampen the oscillation, so you might set a relatively low oscillation
percentage for your simulation. The fulcrum parts of the cable do not oscillate at all.
9. You can attach the cable to the robot body at selected points to better simulate the real robot-cable
relationship. The following attachment types are available: Fixed, rotating, and a variety of retraction
system attachments.

Note
You can only add a single retraction system attachment to a cable.

a. In the Cable Editor, click Attachments.

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 b. Click Add Attachment .

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 c. Set the attachment Type as follows:
• Fixed—the cable is fastened at the Attachment Frame and cannot move away in any
direction. The initial Distance from Start is set so that the cable is attached to the robot
at half the distance between the Start frame and the End frame.
For example, if the cable is 2000mm long, then if Distance from Start is set to 1000mm,
the first 1000mm of cable are routed between the Start frame and the Attachment frame
and the remainder (1000mm) between the Attachment frame and the End frame. If you
increase Distance from Start, more of the cable is routed between the Start frame and the
Attachment frame.
The Distance from Start does not affect the position at which the cable is attached to the
robot.
Click Preview to see how the cable behaves: Moving the End Frame has no effect on the cable
held in place by the Attachment Frame.

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 • Rotating—the cable can rotate at its attachment point:

◦ Select one of the following Attachment locations at which to create the attachment:
◊ Along Cable—Enables you to create the new rotating attachment at any point along
the cable. It is also necessary to select an Attachment frame and set the Distance from
start of the cable.
◊ Start—The new rotating attachment is placed at the start of the cable.

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 ◊ End—The new rotating attachment is placed at the end of the cable.
You cannot create more than one rotating attachment at the start or end of the cable, nor
can you create more than one rotating attachment on the same frame.

◦ Specify a Rotation axis:

◊ To enable horizontal rotation, set Rotation axis to X.

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 ◊ To enable vertical rotation, set Rotation axis to Y.

◊ To enable rotary rotation, set Rotation axis to Z.

◊ To enable rotation by any axis, set Rotation axis to All.

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 • Rotating Sliding—the cable can rotate at its attachment point and slide through the
attachment hardware:

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 Set the Attachment frame, Distance from start, and Rotation axis as described for the
Rotating attachment.

Note
◦ The Attachment location parameter is not available for Rotating Sliding attachments
because they cannot be placed at the start or end of the cable; Along cable is
automatically set, because it is the only possible location for this attachment.
◦ The Distance from start is shown in the graphics as an orange ring on the cable. In
the following set of figures, note how it progresses as the cable slides through the cable
attachment.

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 ◦ You can set Axis to None, if you wish to create a sliding but non-rotating attachment.

• Retract System Type 1—the cable can be gathered into a container, leaving the remaining
length of cable extended, or the cable can be extended up to a specified maximum extension.

For Retract System Type 1, set the following:

◦ Attachment frame is always set to Start. This is because the attachment point does not
have its own frame but is associated with the Start Frame.
◦ Distance from start is always set to 0.00.
◦ Spring constant—This is a physical constant that determines how hard or easy it is to
move the attachment when retracting or extending the cable.
◦ Max retracted length—This is the maximum length of cable that can be retracted - for
example, if the cable is three meters long and you set the Max retracted length to 0.5
meter, then 2.5 meters of the cable will always remain extended (even when the entire 0.5
meters are retracted). The Max retracted length is marked in orange in the preview.
Click Preview to see how the cable behaves.
◊ When fully retracted, the Max retracted length is completely inside the container. The
cable is at its minimum reach.
◊ As the cable is extended, the Start Frame (red) moves away from the container and
green spring is loaded.
◊ When the cable is fully extended, the Max retracted length is completely outside the
container and the green spring is fully loaded. The cable is at its maximum reach.

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 • Retract System Type 2—the cable is attached to the translation point (thick vertical black line
in the preview below) which moves and pushes the cable through the Attachment Frame for
maximum reach, or retracts to gather cable slack on the left.

For Retract System Type 2, set the following:

◦ Attachment frame is at a fixed point and the cable slides through it. This ensures that the
cable cannot move away from this point and is useful if it is important to route the cable via
a specified point.
◦ Distance from start is the initial distance between the Start Frame and the Attachment
Point. This dictates the minimum and maximum retracted lengths (described below).
◦ Spring constant—This is a physical constant that determines how hard or easy it is to
move the attachment when retracting or extending the cable.
◦ Min retracted length—when the translation point moves towards the Attachment Frame,
it pushes the cable through the Attachment Frame while taking up the slack from the
left and extending the cable's reach to the right. When the translation point reaches the
Attachment Frame, the cable is at its maximum reach on the right.
◦ Max retracted length—the cable is at its maximum retracted length when the translation
point is at its greatest distance from the Attachment Frame. The slack is gathered on the
left and the cable is at its minimum reach.
Click Preview to see how the cable behaves.
◦ When fully retracted, the cable is slack on the left. The cable is at its minimum reach.
◦ As the Translation Point moves towards the Attachment Frame, the cable slides through the
Attachment Frame and the green spring is loaded.

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 ◦ When the Translation Point reaches the Attachment Frame, the cable is fully extended at its
minimum retracted length and the green spring is fully loaded.

• Retract System Type 3—the cable is routed through two cable holders (the primary
attachment and the secondary attachment) that are attached to the body of the robot.
Additionally, a spring is connected to the cable at a point between the start frame and the
secondary attachment - this point is indicated by the black mark on the cable. The spring
extends from the black mark to the secondary attachment. In the following illustration,
when the weld gun moves pulling the cable, the cable slides through both attachments as
necessary, loading (compressing) the spring.
When the pulling force on the cable eases, the spring relaxes and pulls the cable back through
the attachments.

For Retract System Type 3, set the following:

◦ For Attachment Frames 1 and 2:
◊ Attachment frame is at a fixed point and the cable slides through it. This ensures that
the cable cannot move away from this point and is useful if it is important to route the
cable via a specified point.
◊ Distance from start is the initial (spring loading) distance between the Start Frame and
the Attachment Point.

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 Note
Both attachment frames must be attached to the same robot link.

◦ Spring constant—This is a physical constant that determines how hard or easy it is to load
the spring when extending the cable.
◦ Min retracted length—when the cable is pulled all the way through the Attachment
Frames, the spring is compressed and loaded. The cable is now at its minimum retracted
length.
◦ Max retracted length—when the pulling force on the cable is removed, the spring relaxes
and pulls the cable back through the Attachment Frames. The cable is now at its maximum
retracted length.
Click Preview to see how the cable behaves.
d. Click OK.

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 10. You can add more attachments using Add Attachment . After selecting attachments, you can

delete them using Remove Attachment , or edit them using Edit Attachment .
11. In the Create Cable dialog box, click Generate to create the cable.

Note
• The cable is listed as a resource in the Object Viewer.

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Cable Settings

• After the cable is created, it remains open for modeling.

• You can model the cable, and copy, move or delete it.
• A fixed attachment is shown as a sphere.

• Only a single retractable system can be implemented for a cable.

Cable Settings

The following cable settings apply to all cables.

Procedure

1. Choose Modeling tab → Cable group → Cable Settings .

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 2. Set the following options:
• Wrap around objects – Determines whether the cable takes other visible objects (parts and
resources) into account during robot motion. When set, the cable wraps itself in such a way as to
avoid colliding with nearby objects. When cleared, it is possible the cable will penetrate objects.

Note
Clearing this option improves the performance of cable simulation.

• Gravity direction – By default, cables tend to move downwards with the pull of gravity when there
is no other force to oppose this motion, so this parameter is set to -Z to ensure this behavior.
However, if you have imported data which is not correctly orientated in Process Simulate, you can
change its Gravity direction to correct for the wrong orientation. This saves you editing all the
cables for the correct behavior.
• Smooth cable display – Causes cables to be displayed as natural, smooth curves. However,
even when this option is set, the simulation still performs accurate cable calculations for the
polyline cables. This means that a smooth cable may appear to slightly touch another object
causing the collision detection system to report "unwanted" collisions.
• Display twist lines on cables – Displays lines along the length of the cable providing a
visible indication of the degree of cable twisting.

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 • Display constraint colors for:

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 ◦ Twist – If Max twist is activated for a cable in the Edit Cable dialog box, then the cable is
displayed in varying colors with respect to the maximum allowed twist value:
◊ Green: 0 - 30% of the maximum twist.
◊ Yellow: 30 - 50% of the maximum twist.
◊ Orange: 50 - 90% of the maximum twist.
◊ Red: 90 - 100% of the maximum twist.

◦ Contact force – If Max Contact force is activated for a cable in the Edit Cable dialog box,
then the area surrounding the contact point of the cable is displayed in varying colors with
respect to the magnitude of the force acting between the robot and the cable:
◊ Green: No contact.
◊ Yellow: 0 - 50% of the maximum contact force.
◊ Orange: 50 - 90% of the maximum contact force.
◊ Red: 90 - 100% of the maximum contact force.

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Regenerate Cable

◦ It is possible to display both Display twist lines on cables and Display

constraint colors (either twist or contact) concurrently.

Note
It is recommended to cancel the display of constraint colors when this function is not required as
it can cause reduced system performance.

Regenerate Cable

It is recommended to regenerate the cable in the following cases:

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 • Robot Jog - While performing robot jog, the system continually recalculates the cable. However, jogging
the robot too far or too fast may complicate cable recalculation causing the cable to become invalid.
• Move Frames - Moving cable frames may cause the cable to become invalid.

• Select the cable and choose Modeling tab → Cable group → Regenerate Cable . Process Simulate
regenerates the cable in an alternative shape, according to its start, end and attachment positions and
its parameters.

Create cable inside compound equipment

A component hierarchy is known as a Compound Equipment, as explained in detail in Compound

Equipment.

To create a cable inside a compound equipment:

Procedure

1. In Process Simulate, run Set Modeling Scope on the compound equipment.

2. Create the cable (while the equipment is selected). The cable start and end frames must also be
nested under the equipment or attached to a part/robot nested under the equipment. The cable
attachment frames and the pass near frame must be nested under the equipment.
3. Run End Modeling to finalize the equipment.

• If the compound equipment is in modeling scope, you can modify the following parameters: Name,
Start frame, End frame, Fulcrum length, Pass near, Oscillation, and all the Attachment parameters.

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 The remaining parameters are displayed in read-only mode.
• If the cable nested under the compound equipment is in modeling scope, you can modify the following
parameters: Name, Length, Radius, Density, Young's Modulus, Max tension, Max twist, Max
contact force, Min curvature, and Oscillation.

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 PMI

After ending modeling, all the cable instances are updated according to the changes you made.
• If both the equipment prototype and the cable are in modeling scope, you can modify any of the
parameters.

PMI
The PMI option enables you to load components together with Product Manufacturing Information (PMI)
from the JT files where PMIs reside as metadata. Process Simulate supports coordinate system PMIs and all
graphic annotation PMIs (for example, notes and dimensions). Each type has a unique symbol and you can
configure Process Simulate to import certain PMIs and omit others. For information on how to do this, see
General Tab.

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PMI

The properties of PMIs are derived from the source JT file, for example, text foreground and background
colors, text background opacity, text border, line color, and line width. If properties are lacking, Process
Simulate uses default properties.

After PMIs are loaded in Process Simulate, they are accessible as individual objects. You can load PMI
information for the following parts and resources:

• Part and tool instances

• Part and tool prototypes
• Non-empty compound parts or compound resources
• Compound prototype equipments

Note
• Load PMI loads both PMI frames and legacy frames.
• After loading PMI information and using the End Modeling command, all PMI information is retained
and is available for use by CAD programs (for example, NX) and viewers (for example, TCvis). This
even includes PMI information not loaded by Process Simulate.
• The color of PMI text is saved in prototypes when you issue the End Modeling command. However,
PMI text size and location is only saved (as instance information) when you perform Teamcenter
Update.
• PMIs created by 3rd-party applications and then imported into Process Simulate are saved as real PMI
information objects.
• Kinematic frames are loaded in both Entity Level and United Representation even if you did not run
Load PMI. You cannot remove the unpreserved status of these frames, refer to Set as preserved
objects.
• PMIs are displayed in the Graphic Viewer in one of two ways:
◦ In-plane – The PMIs are displayed in the plane of the entity and rotate with the model.
◦ Flat-to-screen – The PMIs are displayed in the plane of the screen and do not rotate with the model.
Typically, measurement and spot weld PMIs are displayed in this mode.
The default display mode is in-plane, unless explicitly noted in the source JT file. Process Simulate does
not support changing the PMI display mode in the Graphic Viewer. The lines and arrows of the PMI
may be hidden by objects in the display.
• You can drag and drop PMIs to make order in the Graphic Viewer. Set Pick Level to Entity (see
Selecting objects in the Graphic Viewer) before selecting the PMIs.

Note
It is not possible to drag and drop PMIs in the Object Viewer.

• The PMIs nested under each node are displayed in the Object Viewer as a flat list.

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 PMI

• PMIs are saved as polylines (not text). You cannot edit them.
• You can blank and display PMIs.
• After running Set Modeling Scope, you can perform the following operations:
◦ Drag and Drop in the Graphic Viewer.
◦ Rename the display name in the Object Viewer.
◦ Drag and drop the PMI in the Graphic Viewer – the PMI arrow is adjusted.
◦ Copy and paste a PMI in the Graphic Viewer.
◦ Delete the PMI.
◦ Modify text and frame color.

For information on how to preserve PMI entities in United Representation, refer to Set as preserved
objects.

Load PMI

The Load PMI option enables you to load components together with Product Manufacturing Information
(PMI) from the JT files where PMIs reside as metadata.

To load PMI information, select a component and choose Modeling tab → PMI group → Load PMI .

Unload PMI

The Unload PMI option enables users to unload PMI entities. These will no longer be available in United
Representation.

Note
This command does not affect the current level of representation in Process Simulate. For example,
components loaded in Entity Level or United Representation remain at the same level of representation
even after executing Unload PMI.

To unload PMI information, select a component and choose Modeling tab → PMI group → Unload PMI

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PMI

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 Attach File

8. Server
Attach File

You can attach files of any type to a selected resource or operation.

This video demonstrates using the Attach File command with Process Simulate on Teamcenter connected.

Note
Videos are not included in PDF. To access videos, use HTML.

Procedure

1. Select an operation in the Object Viewer.

2. Choose Server tab → TeamcenterObjects group → Attach File .

The Attach File dialog box is displayed.

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 The Attach File dialog box has three sections:

Name Icon Description

External Files Enables you to attach any external file, such as a spreadsheet or a
document.
Displays a standard Open dialog box for selecting the file to
attach.
Image Files Enables you to attach a screen capture of the Graphic Viewer.
Takes a snapshot of the Graphic Viewer. You can select the type of
image and its size in the Image Properties window:

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 Name Icon Description

Attach file to a scene node

To attach a snapshot to a scene node in the tree:
1. Select a study scene and choose File tab → Attach File.
2. Create a snapshot of the view in the Graphic Viewer or of
the New Section (if open).
3. Assign a filename and graphic format (.jpg or .bmp).
The system attaches the snapshot to the scene node, and you can
access it from the Attachment tab of that study's Properties.
Opens the Markup Editor where you can add markups to the
selected image.
Enables you to remove the markup from the selected image.

Movie Files Enables you to attach a movie file.

Opens the Movie File Name window where you can start
recording after entering the name of the movie:

The Movie Recorder window is displayed, enabling you to control

the movie:

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Teamcenter Update

Name Icon Description

Note
Starting Teamcenter version 13.1, you can attach different
movie formats. Before version 13.1, only .AVI format movies
were supported.

Plays the selected attached movie file.

3. Attach files to the selected component, as required.

4. Click Close.

Teamcenter Update

Teamcenter Update brings the Teamcenter server up to date with any changes made to data in Process
Simulate.

Teamcenter updates include plant and process modifications, for example newly created objects, verified
(simulation) times, and current scene data (snapshots, frames, color changes, device poses, etc.), and line
simulation data. When you open Teamcenter study, Process Simulate receives data from the Teamcenter
server and changes you make in Process Simulate (for example, moving resources or creating objects) are
stored locally (in the Process Simulate application). Use the Teamcenter Update command to update the
Teamcenter server with the changes made in Process Simulate.

Note
It is possible to omit saving line simulation data by clearing Store line simulation data even if not in
line simulation mode in the Teamcenter tab of the Options dialog.

Procedure

1. Choose Server tab → Update group → Teamcenter Update .

The Teamcenter Update dialog box is displayed.

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 2. Specify the information that you want to update by selecting the relevant checkbox(es) in the
Teamcenter Update dialog. The following table specifies some of the relevant information:

Option Description
Plant Updates the Teamcenter server with plant modifications, including:
• New or modified workareas and resources
• Resource changes such as kinematics, poses, 3D, etc.
• Resource occurrence modifications such as position, tool definition, mounting,
and global attachments
• For robots: Robot controller setup and configuration, including machine data
• Line Simulation data related to signals, ports and logic
Process Updates the Teamcenter server with process, operations, activities and weld
location information (projections) created or modified in Process Simulate, including
resource, part and Mfg feature assignments.
New operations nested under processes are added to the Teamcenter BOP as
Teamcenter operations.

Simulative operations nested below Teamcenter operations are saved as Process

Simulate propriety data on the parent Teamcenter operation and can only be viewed
in Process Simulate (they do not appear in Teamcenter).

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 Option Description

Assembly Updates the Teamcenter server with modifications in the Object Viewer. This only
applies to classic IPA.
Scene Data Updates data that is specific to the loaded scene (Study or Process) - this
information is not available when a different study or process is loaded. This
includes:
• Scene information that can be viewed in the Object Viewer:
◦ Notes
◦ Sections
◦ Dimensions
◦ Frames
◦ Appearances
◦ Motion volumes
◦ Point Clouds
◦ Robot Safety
◦ Cameras
◦ Curves
◦ Groups (in Object Viewer)
• Local user application data such as:
◦ Colors
◦ Visibility state (blank/display)
◦ Components in modeling scope
◦ Entity Level state (detailed representation)
◦ Local attachments
• Simulation information:
◦ Simulation events
◦ Transition conditions
◦ Material flow
◦ Common signals

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 Viewing Verified Time in Teamcenter

Option Description
• Object-related information such as:
◦ Gripped object lists
◦ Resource instance poses
◦ Positions of parts that were relocated in the loaded scene
◦ Positions of root resources (whose descendants are not part of the loaded
scope)
◦ TCPF positions and orientations
◦ Conveyor information
• Collision sets
• Snapshots
• Human information

Note
Scene Data is always updated to Teamcenter.

3. Click OK to update the Teamcenter server.

Note
• In some cases, the Teamcenter configuration prevents Process Simulate from updating the
Teamcenter server. If this occurs, an error message appears, providing information on how to
resolve the problem. If the error is due to insufficient access privileges, you may see one of the
following messages:
◦ You do not have write access to object X-view.
◦ BOMView Revision X-view cannot be modified.
If the error is due to violating a business rule, you may see one of the following messages:
◦ Exceeding secondary cardinality. See rule for: X Revision, POM_object, References (details =
ProcessSimulateScenePositions).
◦ Relation creation failed due to some constraints.
• If you close Process Simulate before updating the Teamcenter server, the changes made in
Process Simulate are lost.

Viewing Verified Time in Teamcenter

After setting the simulation (verified) time for a Process Simulate operation:

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Viewing Verified Time in Teamcenter

View it in the Teamcenter Manufacturing Structure Editor (MPP) by double-clicking the form for the activity
in Operation Activities tab in the MPP window.

Note
The Allocated time, which is used for planning and is displayed in the Duration (Sec) column in the MPP
Operation Activities tab, can also be viewed in Process Simulate operation properties.

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 New Object

New Object

New Object enables you to create new Teamcenter processes, objects, and activities under Teamcenter
objects in a scene.

Select the parent Teamcenter object before executing the New Object command. The object type of
the parent determines which object types you can create as descendants under the parent. If you
select a compound resource as the parent, you can create sensors and PLC resource objects for virtual
commissioning. When you run Teamcenter Update, the new objects are added to it.

Note
You can add Process Simulate operations to Teamcenter RootActivity objects and Activity objects.
When you update the Teamcenter database, the system stores the new Process Simulate operations
at the process activity level, but the Teamcenter Project Explorer does not display the Process Simulate
operations.

The following table indicates the type and number of Teamcenter and Process Simulate objects that you
can add under a parent Teamcenter object:

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 Parent
Teamcenter Teamcenter Process Simulate Maximum
Object Objects Simulation Operations Quantity
Process Process No limit
Operation No limit
DiscreteOp No limit
ContinuousOp No limit
Operation RootActivity No limit
RootActivity Activity No limit
Weld Operation 1
Device Operation No limit
Flow Operation No limit
Non-Sim Operation No limit
Activity Activity No limit
Weld Operation 1
Device Operation No limit
Flow Operation No limit
Non-Sim Operation No limit
DiscreteOp Weld Location Operation No limit
Via Location Operation No limit
ContinuousOp Weld Location Operation No limit
Via Location Operation No limit

Note
DiscreteOp and ContinuousOp are Teamcenter operations. You can nest Process Simulate simulation
operations (weld and via location operations) directly under these Teamcenter operations.

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 To create a new Teamcenter object:

Procedure

1. In the Operation Tree, select a Teamcenter plant, process, operation, or activity to be the parent
object. The new Teamcenter object is created under the parent object.

2. Choose Server tab → Scope group → New Object . The New Object dialog opens.

The Object Type field displays the Teamcenter object types that you can add as descendents of the
selected parent object. The available objects vary according to the type of parent you select.

Note
For information on how to configure the available Object Types, refer to Configuring Object Types.

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Check In and Check Out

Note
The following Teamcenter objects (or customized objects inheriting properties from them) cannot
be created, manipulated, or deleted in Process Simulate:
• PlantBOP
• ProcessArea
• ProcessStation
• ProcessLine
Apart from this limitation, Process Simulate provides full support for these objects.

3. In the Object Type list, select the object type of the new object.
4. In the Name field, edit the name of the object.
5. Enter a Description, if required.
6. Create the new object by doing one of the following:
• Click Apply to create the new object.
• Click OK to create the new object and close the New Object dialog.
The new object appears in the Operation Tree as a descendent of the specified parent object.

Check In and Check Out

When connected to Teamcenter, Process Simulate enables you to check out and check in studies,
resources, and processes from and to the database. This mechanism ensures that two people never work
on the same item at the same time.

Note
The Check In and Check Out commands only work when running Process Simulate with Teamcenter
version 11.4 or higher.

The check out status of all items is also saved when creating PSZ-TC files (refer to Save as), thus, when
opening the data in Process Simulate disconnected mode, the check out status can be viewed in the
Object Viewer.

Note
When performing Check In or Check Out on end items with nested resources, only the selected items
itself is checked in/out, the nested items remain in their current checkin/out state.

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 To check out items:

To check out items:

Procedure

1. Select items in the Object Viewer and choose Server tab → Teamcenter Objects group → Check

Out .
If you are checking out a study or process, the following Check Out dialog box appears:

If you are checking out a resource, the following Check Out dialog box appears:

2. Set Include sub hierarchy if you wish to check out all the items nested in the item's hierarchy.
3. If you are checking out a study or process, set Include assigned Workareas and Resources if
relevant.
When check out is complete, the system displays the following message (if there are any errors, these
are listed in red):

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To check out items:

The following figure shows the current user's checked out items ( ) and items checked out and
therefore locked by other users ( ) in the Object Tree.

If you open the data in Process Simulate disconnected mode, items you checked out yourself are
marked and items checked out by any other users by .

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 To check in items:

To check in items:

• Select items in the Object Viewer and choose Server tab → Teamcenter Objects group → Check In

. Process Simulate checks in the items.

Assign Data from Teamcenter

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 The Assign Data from Teamcenter command enables you to assign Teamcenter product and plant
resources to processes currently loaded in Process Simulate. This may save you time and effort, for
example, if you have loaded a Teamcenter process in Process Simulate (which may be time-consuming)
and discover that a specific product or plant is missing, you can assign the missing resource to the loaded
process (consume) and load it in the current Process Simulate session. You do not have to close Process
Simulate, access Teamcenter, assign the additional resource to the process, and reload the process in
Process Simulate.

To assign data from Teamcenter:

Procedure

1. Choose Server tab → Scope group → Assign Data from Teamcenter . The Assign Data from
Teamcenter dialog appears.

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 By default, the Search Criteria area displays Select Product structures to search in. If there are no
product structures in the Teamcenter data, Plant is displayed instead.
2. In the Select dropdown list, set the search scope as follows:
• Retain Products - The dialog displays the top level product structures loaded in Manufacturing
Process Planner and has at least one consumption in the process hierarchy loaded to Process
Simulate.

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 • Select Plants - The dialog displays the top level plant structures loaded in Manufacturing Process
Planner and has at least one consumption in the process hierarchy loaded to Process Simulate.

3. In the Search Criteria area, check the structures in which to search and clear those to omit from the
search.
4. Enter the Item id and/or Item Revision name of the objects you wish to assign from Teamcenter. You
can use wildcards to facilitate the search.
5. Click Search. Process Simulate searches the Teamcenter database and populates the Results table.

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 Note
The Results table is read-only.

6. You can do any of the following to facilitate analyzing the results and deciding which objects you
require:

• In the Display column, check an object's checkbox. The object is loaded (temporarily) into
Process Simulate and displayed in the Graphic Viewer. Clearing the checkbox hides the object and
checking it again displays it. The checkbox represents the object's state:

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 - The object is not loaded for preview.

- The object is loaded for preview.

- The object is loaded for preview but has no JT file (and cannot be displayed).

Note
Previewed objects are not displayed in the Object Viewer or Relations Viewer.

Filtering the Result Table columns:

• Click the text of any column header (apart from Display) to sort the column in ascending order.
Click it again to sort the column in descending order.
• Click the filter button of any column header (apart from Display) to open a value filter. The filter
button becomes visible when you hover your mouse over the column heading. Check the values to
display, clear the values to hide, and click Apply.

Click Text Filter to change to a text filter.

Select a logical operator, enter the desired text and click Apply.

Note
◦ When a filter is active on a specific column, the column header displays an icon.

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 ◦ When the Text Filter is active, the system offers a Value Filter, enabling you to filter by both
criteria simultaneously.

• Click to open the Customize Columns dialog.

Use the , , , , , and buttons to set the desired columns in the Assign
Data from Teamcenter results table. The Display, BOM Line Name, and Source Structure are
static columns and always appear.

• If you have activated one or more filters and wish to cancel them, click .

• Select multiple objects and click to display them or to hide them in the Graphic Viewer.

• Click Display Selected Only to display only the selected objects; all other objects in the
Graphic Viewer are blanked.
• Zoom in on the selected object using one of the following results toolbar buttons:

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 ◦ Click Zoom to Selection to zoom in on the selected object. If another object blocks your

view of the zoomed object, click .

◦ Click Zoom to Fit to zoom in on the selected object and display it optimally in the Graphic
Viewer.

• Click for the selected object if you wish to relocate a previewed object.

You must run this command from the Assign Data from Teamcenter toolbar. Running this
command from Relocate will fail because the selected object is only a temporary object in Process
Simulate since it is not yet consumed by a Teamcenter process.
7. Select the objects you wish to load in Process Simulate and click Consume. The Consume dialog
appears.

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 8. Click the Target process/operation field and select a target process from the Object Viewer. The
target may be the root process, or a descendent process or Teamcenter operation.
9. If the assigned data type is a resource, you can click the Target scope field to set the resource under
the target e.g., work area. Using this option allows you to delete the resource afterward.

Note
Users can choose either Target scope or Target process/operation or both.

10. Click OK to perform the consume and load processes. The objects now appear in the Object Viewer
and Relations Viewer.

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 Note
In the Relations Viewer, both the new parts are displayed under Products (see above figure) and the
new part displays its assigned processes (see figure below).

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 Mfg Search

Mfg Search
This video demonstrates how to find Mfgs and load them in Process Simulate.

Note
Videos are not included in PDF. To access videos, use HTML.

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Replace Resource

The Mfg Search command enables you to search for Mfgs in the current Teamcenter product and load
them in Process Simulate to optimize work performed at specific work stations. In order to open Mfg
Search, make sure that you selected a Teamcenter operation that is valid for Mfg assignment. Valid
operations include, Discrete, Continuous, etc, and may not be write-protected or checked-out by other
users.

Note
The feature is part of the Teamcenter Manufacturing Access application. This application is based on
the Active Workspace platform, and provides tools for accessing and loading data from Teamcenter
to Process Simulate. For more information refer to the EasyPlan Teamcenter Manufacturing Access
documentation.

Replace Resource

The Replace Resource command enables you to automatically change the prototype (item, item revision)
for a selected scope of resource instances. This is useful when you use a placeholder early on and you need
to replace it once the actual one is available. It is also useful for cases when there is a change in standards,
upgrade of existing data, or change to existing resource data. You can select several resource instances
and a single resource prototype.

To replace a resource:

Procedure

1. Select a resource.

2. Choose Server tab → Scope group → Replace Resource . The Replace Resource dialog box
appears:

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 3. With the Replace by field active, select a different resource from the Object tree or in the Graphic
Viewer. If necessary, you can click Resource Search to find the required resource.
4. Click Replace. The replacement is performed in Teamcenter and a message displays asking if you
wish to reload the study. This is necessary in order to view the changes in Process Simulate.

Note
The system asks you to update Teamcenter with the changes you implemented in Process Simulate prior
to replacing resources in order to ensure that no changes are lost.

• Results of replacement:
◦ Resource Revision (Prototype) data - the object acquires revision-related data of the new revision.
Data related to the previous revision is not preserved - no merge is performed.
◦ Occurrence (Instance) data - the object retains occurence-related data and references, to allow
maintaining references to this object as much as possible.

Note
Instance-related data is preserved only when references (user-specified or designated by the
application) are implemented at the component level (the entire resource). If references are applied
to entities below the object, they are not preserved and become invalid after the replacement. In
this case, Process Simulate displays a warning upon loading next time, and some functionality may
be unavailable.

• Information that is preserved when replacing a resource revision:

◦ Teamcenter properties of the occurrences of the resource -
◊ Position

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 ◊ Teamcenter properties (forms, datasets and occurrence properties) on the occurrence
◦ Occurrence relations to other Teamcenter objects -
◊ Assignment to process/operations
◊ Ancestor (location in plant hierarchy)
• The following types of data may be lost or not fully applicable after the prototype replacement:
◦ Engineering data, for example, attachments, instance poses, blank/display
◦ Simulation information

After replacement, you will probably need to make manual adjustments in Process Simulate to the data
relevant to this resource.

Resource Search

This video demonstrates how to add resources to a disconnected study.

This video demonstrates how to search for resources and add them to Process Simulate.

The Resource Search viewer enables you to search in Teamcenter for both classified and unclassified
library resources and add them to the current study.

When cloning resources:

• They are imported as parent assemblies, complete with multi-level child assemblies.
• Compound Resources are fully cloned, both the items and their instances.
• Resource instances and Compound Equipment are copied, with references to the original tool.

Note
The feature is part of the Teamcenter Manufacturing Access application. This application is based on
the Active Workspace platform, and provides tools for accessing and loading data from Teamcenter
to Process Simulate. For more information refer to the EasyPlan Teamcenter Manufacturing Access
documentation.

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 Add resource to disconnected study demo

Add resource to disconnected study demo

Note
Videos are not included in PDF. To access videos, use HTML.

Resource Search demo

Note
Videos are not included in PDF. To access videos, use HTML.

Reload Selected Resource to Disconnected Study

This video demonstrates how to load resources that have been updated in Teamcenter to a disconnected
study with out impacting offline work that has already been performed.

Note
Videos are not included in PDF. To access videos, use HTML.

When you load a disconnected study (psz-tc) in Process Simulate on Teamcenter Connected, you can
reload the resource instances or equipments in the study from the prototypes in Teamcenter.

Procedure

1. In the study, select any occurrences of the resource or equipment you wish to reload.

Note
Make sure that none of the occurrences are in Modeling mode.

2. Choose Server tab → Update Disconnected Study group → Reload Resource to update the
occurrences' 3D data, kinematics, tool definitions, etc. from the prototype.
3. To complete the task, make sure to save the psz-tc file with the updates.

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 Using this command does not change occurrence specific data such as name, position and instance poses.

Reload Product to Disconnected Study

This video demonstrates how to reload a product from Teamcenter without impacting offline work.

Note
Videos are not included in PDF. To access videos, use HTML.

After products have been updated or added to Teamcenter, you can reload your disconnected study
(psz-tc) with the latest versions of these items. If you have made changes to your study while working
offline, they are retained, unless directly impacted by the newly-uploaded data. Proceed as follows:

Procedure

1. Launch Process Simulate on Teamcenter connected to the Teamcenter server.

2. Choose File tab → Disconnected Study group → Open in Standard Mode or Open in Line
Simulation Mode and select your psz-tc file.

3. Choose Server tab → Update Disconnected Study group → Reload Product .

The Reload Product dialog box appears.

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 4. Select one or both of the following options, according to the scope of your work:
• Reload existing parts and Manufacturing Features—Reloads the following item types that
currently exist in the disconnected study file:
◦ Parts—Properties, structure (includes new sub-assemblies if such exist), position, and 3D
information.
◦ DIPAs—Calculates and loads updated DIPAs.
◦ Mfgs—Properties, position, and connected parts.

Note
Parts and Mfgs present in the disconnected study but absent in Teamcenter are deleted.

• Load new parts and Manufacturing Features of selected operation/processes—After selecting

operations and processes, the system loads parts and Mfgs that have been assigned in Teamcenter
to the specified operations and processes and that are currently not included in the disconnected
study.

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 Note
◦ Currently-existing parts and Mfgs remain unchanged.
◦ DIPAs are not recalculated.

5. Save the psz-tc file. All the work you performed previously while offline remains unchanged; you can
now continue working offline with the latest product data.

Restore occurrences after broken link

If an occurrence link in the Teamcenter process (for example a BOM link to a part or a weld point) has been
broken while you were working offline in Process Simulate, then when updating Teamcenter, an error
occurs. After the link as been restored in Teamcenter, you can fix the Process Simulate error by running
Reload Product. Set both Reload existing parts and Manufacturing Features to detect that the original
occurrence has been removed from the Teamcenter process and remove it from the study, and Load new
parts and Manufacturing Features of selected operation/processes to detect that a new occurrence has
been added to the Teamcenter process and add it to the study. Updating Teamcenter will now succeed.
Process Simulate now uses the new occurrence in all viewers and transfers all attachments (for example,
files and notes) to it.

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9. Robot

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Tools for robotic tasks

Tools for robotic tasks

This section describes the Robot tab, which provides tools for generating, editing and validating Robotic
tasks in a 3D engineering environment. These tools enable you to create collision-free simulations, such
as the activation of robots and other devices. They also enable you to perform the final optimization and
verification of robotic programs, which accurately reflect the operation cycle time and robot behavior,
before downloading them to the shop floor.

Home
The Home command returns a device or robot to the original position that it was in when its kinematics
were first defined.

Joint Jog

The Joint Jog command enables you to move the joints of a selected device. After a device is created, you
can investigate the motion of a selected joint by testing its movement in the device and adjusting its limits,
as required. If you wish to lock the robot TCPF in a specific position and then jog the robot, use Robot Jog.

By default, the Joint Jog command is disabled until a device is selected.

Procedure

1. Set Component as the Pick Level.

2. Select a component or device and choose Robot tab → Tool and Device group → Joint Jog .
The Joint Jog dialog box is displayed with a list of all the joints defined.

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 The Joint Jog dialog box contains the following columns:

Column Name Description

Joints tree Displays a hierarchical representation of the selected component and its
joints. If the selected component is a super-component, the Joints tree
displays all the child components and their joints.
Joint Jog indicates:

• Dependent joints by displaying the Dependent overlay.

• Coupled joints by displaying the Coupled overlay.

• Following and leading joints by displaying the Follow and Lead

overlays. Following joints may have multiple leading joints and leading
joints may have multiple following joints. A tooltip lists the following joints
and their Follow factors.

• Locked joints by displaying the Locked overlay. For information on

locked joints, refer to Kinematics Editor.

Note
• Child components without joints are omitted, as illustrated in the
following figure:

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 Column Name Description
• Supercomponents are marked with the overlay in the Object Viewer.

Steering/Poses The display in this column differs for joints and components, as follows:
• Joints – Adjust the slider to set the desired joint value. The exact value
appears in the Value column. When the joint value exceeds the joint
working limits, the slider and Value are highlighted in pink (by default).

When the joint value exceeds the joint physical limits, the slider and Value
are highlighted in purple (by default).

To configure joint limits, refer to Kinematic Properties in the Motion Tab .

To configure color indications, refer to Kinematic Colors in the
Appearance tab .
• Components – Select the desired pose from the dropdown list.

Note
If the combination of the joint slider values for a given component does
not match one of the poses in the dropdown list, no options appear in
the dropdown list.

When you make changes in the Steering/Poses column, the numeric value in
the Value column is adjusted and the selected component moves accordingly
in the Graphic Viewer.
The following fields are relevant only for joints:
Value Displays the precise numeric value of the joint. You can edit this field directly
if you wish. To set the units, configure Linear or Angular in the Units Tab.
Lower Limit and Displays the soft limits for the joint. This is a configurable joint value at which
Upper Limit you may wish to limit movement of the joint. For example, you may wish to
limit joint movement to observe a joint more closely in a specific position.
You can edit these fields directly. When you enter a valid joint value, it is
displayed in green; press Enter to accept the value. If you enter an invalid
value, it is displayed in red, for example, when you enter a value greater than
the joint’s hard limit.
If two or more joints use the same space for their motion, the system
automatically sets soft limits and deactivates the relevant soft limit fields to
prevent a collision.

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 Note
• If you define a closed loop, only the parent joint is displayed.
• You must select the Limit check checkbox in the Motion Tab in order to work with limits.
• External joints are displayed with the overlay. For more information on external joints, refer to
Robot Properties.

The Joint Jog dialog box contains the following tools in its toolbar:

Icon Name Description

Options Provides column management and joint options.

• In the Column Management area, check the columns you wish

to display in the Joint Jog dialog box and clear those you wish
to hide.

Note
The Joint Tree column is mandatory and is always the first
column on the left. It is not listed in the Options dialog box.

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 Icon Name Description

• Select a column and click or to set its desired order

in the Joint Jog dialog box.
• Configure Prismatic joints step size (for telescopic joints) and
Revolute joints step size (for revolving joints) to configure the
step size when you click the arrows in the Value column of the
Joint Jog dialog box.
• Adjust Slider sensitivity to configure the sensitivity of the
sliders in the Steering/Poses column of the Joint Jog dialog
box.
Show By default the Joint Jog dialog box does not display dependent
Dependent joints (a joint that copies the motion of another joint). Click
Joints this icon to display dependent joints. The slider for a dependent
joint is disabled. Additionally, you cannot reset its Value, Lower
Limit,and Upper Limit.

Reset All Soft Resets all the joint soft limits you have configured in the Joint Jog
Limits dialog box to the hard limits for each relevant joint.
Reset to Hard Select a Lower Limit or Upper Limit value for one of the joints and
Limits click this icon to reset the limit value to its hard limit.

3. Click Reset if you wish to reset all the limits to their default values.
4. Click Close to exit the Joint Jog dialog box.

Note
• If Limit joint motion in the Motion Tab is set, joint motion will be limited by the joint's physical limits.
If it is cleared, you can move joints to any pose.
• If Indicate joint working limits in the Motion Tab is cleared, the Joint Jog dialog box gives no color
indications about working limits.

Limit Joint Motion

The Limit joint motion command toggles the global state of joint motion limitation.

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 Mount Tool

The following diagram describes physical and working limits:

• Red — Physical joint limits. The actual device joint cannot move past this limit. The physical limit is
defined by the robot manufacturer. If Limit joint motion is off, the joint can move past this limit in
Process Simulate.
• Yellow — Working joint limits. You can extend the physical limit to ensure that the joint does not
approach the real physical limit. This addition is known as a working limit and is desirable to prolong
robot lifetime. You can adjust the working limits any time to suit your current constraints. Refer to Joints
working limits in the Motion Tab.
• Green — Working area.

Toggle to limit joint motion to within the physical limits (green and yellow). Additionally, the Limit
joint motion parameter in the Motion Tab is set automatically, with no need to open the Options dialog
box.

Toggle again to cancel limiting joint motion. Additionally, the Limit joint motion parameter in the
Motion Tab is cleared automatically, with no need to open the Options dialog box.

Mount Tool

The Mount Tool command enables you to:

• Mount tools and components on a robot.

• Mount tools and components on resources attached to a robot.

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 When you mount a tool that has a defined tool frame of its own, the robot’s TCPF is moved to that frame.
When the robot moves, the mounted object moves with the robot’s tool frame.

Generally, you mount a tool to perform certain tasks. For example, you can mount a weld gun on the robot
so that the robot can perform several welding tasks in different locations at a workstation. A tool required
to perform a task may be too large to mount on the robot. In this case, the object to be welded is mounted
on the robot and then brought by the robot to the tool’s location in order to perform the required task.

By default, the Mount Tool command is disabled until a robot is selected.

Procedure

1. Select Component as the Pick Level.

2. Select a robot and choose Robot tab → Tool and Device group → Mount Tool .
The system displays the Mount Tool dialog box.

3. Select a tool, either in the Graphic Viewer or the Object Viewer. The cursor changes to when you
select objects in the Graphic Viewer. The system displays the name of the tool in the Tool field.
4. Select a reference frame for the tool from the Frame dropdown list in the Mounted Tool section. The
reference frame determines how to mount the tool on the target robot (or mounted resource).

Note
You can temporarily modify the position of the selected frame by clicking the dropdown arrow next

to the Frame of Reference button and specifying the new location of the frame using one
of the four methods available. Refer to Create Frame for more details.

5. Select a mounting frame on the target robot or resource:

a. Select the robot or resource containing the mounting frame from the Mount On dropdown list
in the Mounting Frame section.

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 Indicate Joint Working Limits

Note
The system only displays resources that have at least one available frame.

b. Select the frame from the Frame dropdown list in the Mounting Frame section.
6. Click Apply.
The tool moves to align the selected Frame in the Mounted Tool section with the selected Frame on
the robot or attached resource. The TCPF of the robot moves to the toolframe of the tool, if any.

Note
If the tool is mounted incorrectly, select Reset to return the tool to its previous position, and
change the position of the reference frame for the tool. If the tool is mounted in the correct
location but in the wrong orientation, click Flip Tool to flip the tool. The tool can be flipped in 90
degree increments in all directions (X, Y, and Z) by selecting an axis from the dropdown list.

The mounted tool is marked with in the Object Viewer, as follows:

7. When you are satisfied with the position and location of the mounted tool, click Close.

Note
Mounting a Servo Gun on a robot automatically adds the Servo Gun joints to the robot external
axes list.

Indicate Joint Working Limits

The Indicate Joint Working Limits command toggles the global state of limit calculation. Additionally,
it toggles the Indicate Joint Working Limits parameter in the Motion tab of the Options dialog
automatically, with no need to open the Options dialog box.

After running Indicate Joint Working Limits, Process Simulate calculates and displays joint limit color
indications in all the following:

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UnMount Tool

• Graphic Viewer
• Weld Distribution Center
• Automatic Approach Angle
• Reach Test
• Robot Viewer
• Joint Jog
• Pie Chart
• Smart Place

Note
When Indicate Joint Working Limits is set, Process Simulate consumes a large amount of system
resources.

UnMount Tool

The UnMount Tool command enables you to detach a mounted tool or object from the robot. When the
tool is detached, the TCPF returns to the robot’s tool frame.

Note
By default, the UnMount Tool command is disabled until a tool or object mounted on a robot is selected.

Procedure

1. Select Component as the Pick Level.

2. Select a tool mounted on a robot and choose Robot tab → Tool and Device group → UnMount Tool
.
The selected tool is disconnected from the robot and the TCPF moves from the tool back to the robot’s
tool frame.

Note
Although the tool does not physically move in the Graphic Viewer, it is disconnected and both the
robot and the tool can now be manipulated independently.
Unmounting a Servo Gun from a robot automatically removes the Servo Gun joints from the robot
external axes list.

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 Robot Jog

Robot Jog

The Robot Jog dialog box enables you to manipulate a robot and its locations. It contains a number of
expander areas which you can expand and collapse to conveniently access the commands you need to
manipulate the robot.

Selecting a robot, location assigned to a robot, or Equipment prototype with one or more robots under it,
makes the Robot Jog command available. The Robot Jog dialog box enables you to manipulate the robot
in the following ways:

• Limit the movement of a robot by locking it to a selected configuration when jogging the robot. This
ensures smooth paths and seams.

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 • Lock the robot TCPF in a specific position. When jogging the robot, all its joints compensate to maintain
the TCPF position. This is also the case when the robot base is locked to a skid moving along a rail.
Optionally, you can release the robot base from the skid.
• Display and move all of a robot’s joints, both internal (as with the Joint Jog command) and external. For
information on how to define robot external axes, see Set External Axes Values.

• View locked joints (marked with the Locked overlay). For information on locked joints, refer to
Kinematics Editor.

• View External Joints (marked with the External overlay).

• If you are manipulating a robot nested under an equipment, and if the robot TCPF is locked, then
moving the robot or its joints (including external joints) causes all the nested components of the
equipment to move together with the robot. Additionally, components that are not nested under the
robot’s parent equipment but that are attached to the robot or its links also move together with the
robot. This feature facilitates using robot equipment containing the robot itself plus all its accompanying
parts. When a robot moves or rotates into a collision, the whole equipment is taken into consideration
as well as all components attached to the robot itself or to the robot's links.

Note
If you open the equipment for modeling (see Using Modeling Mode), moving the robot moves the
robot alone. In this case, any change of location of the equipment’s nested components is propagated
to all other instances of the same equipment prototype.

Procedure

1. Set Component as the Pick Level.

2. Select a robot or a location assigned to a robot and choose Robot tab → Reach group → Robot Jog

.
The Robot Jog dialog box is displayed.

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 By default, the dialog box opens with the Manipulations area expanded and the system places a
manipulator frame on the robot’s toolframe.

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 If you selected a location before launching Robot Jog, the Location area is also expanded and is
populated with the selected location.
3. The Robot Jog toolbar enables you to do the following:

Icon Name Description

Lock TCPF Locks the robot’s TCPF in the
current location. When set, the
robot’s TCPF retains its current
position throughout all Robot
Jog commands and any other
commands that affect robot
movement. When the robot
moves, it adjusts its joints to
compensate for the movement
and ensures the robot TCPF
remains in its current position.

Note
Locking the robot’s TCPF
removes the placement
manipulator and collapses
the Manipulations area in
the Robot Jog dialog box. If
the robot possesses external
axes, the External Joints
area is expanded.

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 Icon Name Description

Enable Robot Placement and By default, the robot’s

Enable Robot and Attachment baseframe is locked in its
Chain Placement current position. Therefore
when this option is active, and
the robot is mounted on a skid
and moving along a rail, the
robot will adjust its joints to
compensate for the movement
and ensure the robot TCPF
remains in its current position.

Do one of the following:

• Set Enable Robot Placement
if you wish to release the
robot baseframe and change
the robot’s position.

Note
This function applies a
placement manipulator at
the robot’s baseframe
and expands the
Manipulations area in the
Robot Jog dialog box.

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 Icon Name Description

• Click the arrow in the icon

and select Enable Robot
and Attachment Chain
Placement. This enables you
to move the robot together
with all the objects to which
it is attached (for example, a
rail).
Set External Values of Enables you to configure and
Location store the approach values of
external axes for robot joints
on the current location. Double-
clicking this icon automatically
sets the values of the external
axes on the selected location.
For information on how to
define robot external axes, see
Set External Axes Values.

Note
This function is only available
when Follow Mode is on.

Clear External Values from Clears the external axes values

Location from the current location.
Show Dependent Joints By default the Robot Jog
dialog box does not display
dependent joints (a joint that
copies the motion of another
joint). Click this icon to display
dependent joints. The slider for
a dependent joint is disabled.
Additionally, you cannot reset

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 Icon Name Description
its Value, Lower Limit,and
Upper Limit.

Reset Selected Limit to Hard Resets selected soft limit to the

Limits joint's hard limit.
Reset All Limits to Hard Limits Resets all soft limits to their
joints' hard limits.
Teach Location Applies the following to the
selected location:
• Current robot configuration
(the robot assigned to the
operation under which the
location is nested).
• Current location position (by
storing the position as a
parameter of the taught
location in order to use it for
simulation).

Note
This command is only
available when Follow Mode
is on.

Clear Taught Location Removes the configuration and

taught locations from the
selected location.
Robot Jog Settings Provides column management
and joint options (for the
External Joints and All Joints
areas).

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 Icon Name Description

• In the Joint Columns

Management area, check
the columns you wish to
display and clear those you
wish to hide.

Note
The Joint column is
mandatory and is always
the first column on the
left. It is not listed in the
Options dialog box.

• Select a column and click

or to set its
desired order.
• Configure Prismatic joints
step size (for telescopic
joints) and Revolute joints
step size (for revolving
joints) to configure the step
size when you click the
arrows in the Value column.
• Adjust Slider sensitivity to
configure the sensitivity of
the sliders in the Value

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 Icon Name Description
column of the Robot Jog
dialog box.
• Set Copy attachment if you
wish to copy the reference
location's attachment to the
new location.
• When not using Follow
Mode, you can set Display
ghost gun to display a
ghost gun that shows how
the gun would behave if it
were tracking the location.
If the robot cannot reach
the location, a ghost gun is
created and placed at the
location. When the selected
location comes within the
robot's reach, the ghost
gun disappears and the
robot jumps to the selected
location.

• Click the Manipulate

continuous locations and/or
Manipulate weld locations
options (unchecked by
default) if you wish to
move process operation
locations while the Follow
mode is active. You can
activate the accompanying
Ignore continuous Options'
limitations and Ignore
weld Options' limitations
options respectively to block
restrictions that were set in
the Continuous and Weld
tabs.

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 4. You can use the following controls in the Location area.

Icon Name Description

Current Displays the selected location. After clicking this control to make it active,
Location you can select a different location from the Object Viewer or Path Editor.

Note
• If Follow Mode is on, the robot tracks the current location. However,
if the current location is a taught location, the taught values are
ignored during tracking.

In this case, the Lock TCPF icon is disabled.

Jump to Changes the current location to be the first location in the operation.
First
Location
Jump to Changes the current location to be the previous location in the operation.
Previous
Location
Jump to Changes the current location to be the next location in the operation.
Next
Location
Jump to Last Changes the current location to be the last location in the operation.
Location

Move Updates location with current robot position if Follow Mode is off.
Location to
TCPF

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 Icon Name Description
Follow In this mode, the location follows the robot as you jog the robot. If it is a
Mode via location it can be moved freely. If it is a Weld or a Seam, it is limited
by the options in Robot Jog Options and Weld and Seam tabs in the main
Options dialog box.

Note
If the current location is a taught location, the taught values are not
used when tracking/manipulating the location.

Add Adds a new via location before the selected location and jogs the robot to
Location the new location. The coordinates of the new location are copied from the
Before current location if Follow Mode is on. Otherwise, they are copied from
the location of the robot TCPF.

Note
If Follow Mode is on, and the current location is a taught location, the
new location is added at the taught position.

Add Adds a new via location after the selected location and jogs the robot to
Location the new location. The coordinates of the new location are copied from the
After current location if Follow Mode is on. Otherwise, they are copied from
the location of the robot TCPF.

Note
If Follow Mode is on, and the current location is a taught location, the
new location is added at the taught position.

Copy Enables you to select which parameters are copied from the current
Parameters location to the new location when adding the new location. The available
options are: None, Robotic, Robotic + OLP Commands.

Note
The current settings are kept for the subsequent session. They are also
used by the Add Location Before and Add Location After external
commands for Robotic paths.

The parameters are copied from the current location if this is a via
location. However, if the current location is not a via location, the
parameters are copied from the previous via location or (if there is no
previous via location) the first via location in the operation. If there is no
via location in the operation, no parameters are copied.

5. Click the Manipulations expander.

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 Do any of the following:
a. Move and manipulate the robot using the manipulator or the controls in the Manipulations area
of the dialog box, as described in Placement Manipulator.
b. By default, the frame of reference is the robot’s TCPF. You can change the frame of reference to
be relative to a different frame, as follows:
• Select a frame from the Frame of Reference dropdown list.
Or

• Click and Create a new frame.

You can select any of the following types of frame:
◦ TCPF
◦ Working Frame
◦ BASEFRAME

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 ◦ Robot System Frames
◦ Robot Tool Frames
◦ TCPF with BASE orientation

6. You can lock the robot in a single configuration by clicking and selecting a configuration from
the Configuration dropdown list.

Note
• The current position of the robot determines which configurations appear in the Configuration
dropdown list.
• The current robot configuration is displayed and updated continually when the robot is not
locked in a single configuration.

7. The All Joints area enables you to adjust the values of the robot’s joints without having to access
Joint Jog.

You can set joints' soft limits in the Robot Jog dialog box to values higher than their hard limits. The
dialog box adds a yellow background to cells with exceeding soft limit values and hovering the value
displays a tooltip:

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 For information on how to adjust robot joints, see Joint Jog.

Note
• You can also adjust the values of the robot’s external axes.
• Using Robot Jog to adjust joint values enables you to apply configuration lock constraints that
cannot be applied when using Joint Jog.
• By default, the Value Percentage column is hidden. If you configure it to be displayed in the
Robot Jog Settings dialog box, it indicates the current position of each joint as a percentage of
the that joint's range of motion. 0% indicates the joint is currently in the middle of its range,
positive percentages indicate the joint is closer to its upper limit, and negative percentages
indicate the joint is closer to its lower limit.

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 8. You can use the External Joints area to adjust the values of the robot’s external joints without having
to access Joint Jog.

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Reach Test

9. You can use the Coordinate Reference area to measure the selected location's position relative to a
different frame, as follows:

a. From the Location relative list, select a frame (by default the Working frame).
The Coordinate Reference area updates the values for the Original Frame (top row) and
Reference Frame (bottom row).
b. Click Snap by step size to enforce that the numeric values (linear and angular) increase or
decrease by the increment you set in Step size in the Manipulations area.
10. You can click Reset to undo the changes you made with Robot Jog. Click the arrow next to the Reset
button and select one of the following:
• Reset Current Location - To undo the changes made to the current location since launching Robot
Jog.
• Reset All Edited Locations - To undo the changes made to all the locations since launching Robot
Jog. The system prompts you for confirmation before undoing the changes.
11. You can click Reset to undo the changes you made using Robot Jog. The system rolls back the
changes made to the current location since launching Robot Jog and resets all internal and external
joints to their initial values.
12. Click Close to close the dialog box and end the Robot Jog session.

Reach Test

The Reach Test command enables you to test whether a robot can reach all locations, and to optimize
the cell layout. Open the Placement Manipulator for a robot and open the Reach Test dialog box for the
robot in order to watch how the Reach indications are updated while moving the robot or the locations.

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 Procedure

1. Select a robot, either in the Graphic Viewer or Object Viewer, and choose Robot tab → Reach group
→ Reach Test .
The Reach Test dialog box is displayed.

The name of the selected robot is displayed in the Robot field.

2. Click Expand to expand the Reach Test dialog box.

3. Click in the Locations field and select the locations that you want to test in the Graphic Viewer.
(The cursor changes to when selecting locations in the Graphic Viewer.) The selected locations are
displayed in the Locations field, and a symbol is displayed in the R field indicating whether the robot
can reach the location. The symbols are as follows:

Symbol Description
The robot can reach the location. The location is colored blue in the Graphic
Viewer.
The robot has partial reachability to the location. The robot reaches the
location, but must rotate its TCPF to match the TCPF of the target location.
The robot has reachability to the location outside its working limits (but
within its physical limits).
The robot has partial reachability to the location outside its working limits
(but within its physical limits). The robot reaches the location, but must
rotate its TCPF to match the TCPF of the target location.
The robot has full reachability to the location outside its physical limits.

The robot has partial reachability to the location outside its physical limits.
The robot reaches the location, but must rotate its TCPF to match the TCPF
of the target location.
The robot cannot reach the location at all. The location is colored red in the
Graphic Viewer.

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 Symbol Description
[Blank] [Blank] A blank cell indicates that robot reachability is irrelevant for one of
the following reasons:
• The location is not projected to any part.
• The operation does not have a robot assigned to it, only a gun.

Note
Reach Test finds the optimum reachability solution. For example, partial reachability within
robot working limits is preferable to full reachability outside the working limits, while partial
reachability outside working limits is preferable to full reachability outside the physical limits.
For information on configuring the background colors in these icons, refer to Appearance Tag.

Note
Alternatively, you can select the locations in the Graphic Viewer or the Object Viewer and choose
Robot tab → Reach group → Reach Test to display the Reach Test dialog box with the selected
locations already displayed in the Locations field.
When you double-click a location, the robot jumps to the location if it is reachable.

4. Click Close to close the Reach Test dialog box.

Jump to Location

The Jump to Location command enables you to jump a robot to a location in order to see if the robot can
reach the selected location.

Procedure

1. Select a robot and choose Robot tab → Reach group → Jump to Location. Jump to Location mode is
activated and the cursor changes to .

Note
You can also Jump to Location by double-clicking a location in the Reach Test dialog box.

2. Click a global location in either the Graphic ViewerObject Viewer or the . The robot jumps to the
selected location. The Z-axis of the TCPF of the robot is matched to the Z-axis of the selected location.
If the selected location cannot be reached, the message Robot cannot reach location is displayed in
the status bar.

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 Jump Assigned Robot

Note
The cursor remains enabling you to jump the robot again, as required.

3. Jump the robot to further locations as required.

Tip

To return the robot to the home position, choose Robot tab → Kinematics group → Home .
Refer to Home for more details.

4. To leave Jump to Location mode and return to Select mode, choose View tab → Orientation group →
Select .

Note
The robot jumps according to the data in the installed robot controller. If no such controller is
installed, the default robot controller is used.

Jump Assigned Robot

The Jump Assigned Robot command causes the robot assigned to the current operation to jump to the
selected location. You can use this command to quickly verify which robot is assigned to the operation and
whether it can reach the selected location.

• Select a location and choose Robot tab → Reach group → Jump Assigned Robot. The assigned robot
(assigned to the operation containing the selected location) jumps to the selected location.

Note
The robot jumps according to the data in the installed robot controller. If no such controller is
installed, the default robot controller is used.

Smart Place

The robot Smart Place command enables you to find optimal locations for robots and fixtures. It can work
in one of the following two modes:

• Robot Placement – Enables you to determine the range of points from which a robot can reach a
selected group of locations, either fully, partially, or with a collision. This enables you to position robots
optimally. After selecting a robot and location(s), define a search area (2D or 3D) specifying the number
of points you want the system to check. Process Simulate checks each target point (proposed robot
position) in the grid and calculates whether the robot can reach all the defined locations from the
proposed robot position.In this mode, you can also use Smart Place to create a collision set.

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 • Fixture Placement – Enables you to determine the range of points from which a selected group of
robots can reach selected fixtures (parts and resources), either fully, partially, or with collision, while
performing their associated operations. This enables you to position fixtures optimally while maintaining
robot reachability.
After selecting robots with their associated operations and fixtures, define a search area (2D or 3D)
specifying the number of points you want the system to check. Process Simulate checks each target
point (proposed fixture position) in the grid and calculates whether the robots can reach the proposed
fixture position while performing their operations.

Note
◦ If you run the command on robots or fixtures nested under an equipment, the Smart Place
reachability and collision calculations take into account the entire equipment. The robot’s Self
frame is used as the reference frame.
◦ If the robot/fixture’s parent equipment is open for modeling (Set Modeling Scope), the Smart Place
reachability and collision calculations are based on the robot/fixture alone.
◦ When you have selected multiple fixtures, the system relates to the geometrical center point of a
bounding box containing all the defined fixtures.

For both robot and fixture placement, the system presents a color-coded, graphical representation of the
results. You can then locate robots or fixtures at optimal positions, ensuring full reachability for all robots
to all fixtures and locations.

Procedure

1. Choose Robot tab → Tools group → Smart Place .

The Smart Place dialog box is displayed and the default search area is marked in the Graphic Viewer.

Note
For simplicity, the Smart Place dialog box opens empty and default dimensions of the grid are
displayed in the Search Area.

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 2. Do one of the following:
• Select Robot Placement.
◦ Click in the Robot field and select the required robot in the Graphic Viewer or the Object
Viewer.
◦ Click in the Location list and select the required locations from the Graphic Viewer or Object
Viewer.
Or
• Select Fixture Placement.

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 ◦ Click in the Weld Operations and Robots list and select the required weld operations from the
Graphic Viewer, Object Viewer, or Sequence Editor. Each operation is listed together with its
assigned robot.
If you wish to use a different robot for checking an operation, do the following:
a. Select the relevant row in the Weld Operations and Robots list.

b. Click .
The Replace robot to check with operation dialog box appears.

c. From the Robot dropdown list, select the desired robot and click OK.
◦ Click in the Parts and Resources to Place field and select the required fixtures from the Graphic
Viewer or the Object Viewer.

3. In Robot Placement mode, click the Auto Create Collision Set icon to create a collision set
from the current Robot Placement data.
The collision set appears in the Collision Viewer and is configured according to the advanced options
you set in the Collision tab.

If you have enabled Collision Viewer active sets in the advanced options, the Auto Create Collision
Set function is disabled.
The collision set is based on the entire kinematics chain and attached components (and in the case of
a robot under equipment, all equipment children are added plus all components attached or mounted
to them) and is named according to the following convention: RSP_<robot_name><gun_name>.

Note
If the robot/fixture is nested under an equipment, the equipment name is used instead of the robot
name, as follows: RSP_<equipment_name>.

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 4. From the Search Area section, define the grid or area from which you want to check for reachability.
You define both the size of the area and the number of points (grid) in the area to check by one of the
following ways:
• Drag the slide bars.
• Click one of the hyperlinks to display the Grid Area Definition dialog box.

Specify the range of the X, Y, and Z axes, meaning the length of the axis that the grid covers, and the
number of points on the axis you want to check.
For example, the X axis has a range from -100 to +100 with 10 points, the Y axis has a range from
-100 to +100 with 5 points, and the Z axis has a range from 0 to 10 with 2 points. The total number
of points that would be checked by the system is X points x Y points x Z points, 100 in this example.
Process Simulate checks each point to see if the selected robot can reach the selected targets from
each point.

Note
• When incorrect values are specified in the Grid Area Definition dialog box, OK is disabled and an
error message is displayed.
• The search area dimensions are relative to the selected robot’s location.

5. In the Legend area, check Partial Reach and/or Collision if you want the system to show which
points enable partial reach and which points lead to collisions.
6. Click Start. Process Simulate checks each point in the specified grid and creates a map of the results.
The map displays a graphical representation of robot reachability.

The colors of the points, both in the graphic image in the Smart Place dialog box and in the Graphic
Viewer, are as follows:

Red Not Reached The selected robot cannot reach the selected locations
or fixtures from this location.
Green Partial Reach The selected robot can partially reach the selected
locations or fixtures from location.

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 Orange Collision The selected robot can reach the selected locations or
fixtures from this point but there is a collision.
Blue Fully Reached The selected robot can reach the selected locations or
fixtures from this location.

For Fully Reached and Partial Reach points, the system also displays the robot joint limits status as a
box around the point:

Purple The robot exceeds its physical joint limits.

Pink The robot exceeds its working joint limits but remains
within its physical joint limits.

None The robot remains within its working joint limits.

The Solutions found field displays the total number of solutions found during the search.

Note
• Out of Limits legend will appears only when the Indicated working limit option is checked and/or
the Limit joint motion is unchecked
• If Indicate joint working limits is clear (refer to Motion tab), robot joint working limit statuses
are not displayed.
• If Limit joint motion is clear (refer to Motion tab), robot joint physical limits are considered.

7. Full Search is only enabled if you are performing Fixture Placement. If you selected two or
more operations (and their assigned robots) and Process Simulate detects that a fixture cannot be
reached by the robot assigned to the first operation, it immediately marks the current grid point as
unreachable without checking the other robots. Check Full Search if you wish Process Simulate to
check each grid point for all the robots. In this case, Results for is enabled, enabling you to display
the results for any single robot or a composite display of the results for all the robots.
8. From Results for Level, select the level to be displayed, as shown in the following example. The level
corresponds to the Z grid value.

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 Accessing the Robot Viewer

To stop a search before its completion, click Stop. The Start button replaces Stop.
9. After considering the results, click a point in the results map. The X, Y, Z coordinates of the point
you click are displayed in Place At. Click Place to move the robot/fixture to the selected position. The
selected position is marked with X in the Search results.

Note
• You can also double click the point in the results map or click in the Graphic Viewer to place the
robot/fixture.
• If the robot/fixture is nested under an equipment, the entire equipment moves.

10. Click Reset to return the robot to its original location when the Smart Place dialog box was opened.
11. Click Close to close the Smart Place dialog box.

Accessing the Robot Viewer

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 Procedure

1. Choose Robot tab → Play group → Robot Viewer .

The Robot Viewer appears.

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 Configuring global settings for the Robot Viewer

2. From Panels, check Joint Monitor, Joint Status, Digital Signals, Analog Signals, TCPF Speed, Joint
Speed Acceleration, or Energy Consumption or any combination of these to display the desired
Robot Viewer panels.

3. Drag the panel splitters of the Robot Viewer to adjust the relative sizes of the panels.
4. In the Robot dropdown list, select a robot (or any kinematics device in the scene) by any of the
following methods:
• Pick a robot or other device in any of the viewers.
• Select a robot or other device in any of the viewers prior to opening the Robot Viewer. In this case,
the Robot Viewer opens with the selected robot pre-loaded.
• Select a robot from the Robot dropdown list.
5. In the Legend pane, do the following:
• Select the robot joints you wish to monitor.
• Select a color for each joint from its respective color palette.
6. Check Limits for each joint for which to display the joint limits as a dashed line (in the color selected
for the joint).

Note
The Robot Viewer can display large amounts of information. Concentrate on the items that interest
you currently and remove as many of the other items as possible. You can even open several
concurrent instances of Robot Viewer and divide information between them for extra clarity.

Configuring global settings for the Robot Viewer

Use the Global Monitor Settings option to configure the Display range and Refresh rate for the Robot
Viewer.

Procedure

1. Click (located next to the Robot Selection dropdown list).

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Using the toolbar

The Global Monitor Settings dialog box appears.

2. Configure the Robot Viewer global monitor settings, as described in the following table:

Parameter Description
Display range Configures the time range for which the Robot Viewer monitors the robot joints.
(sec) The Robot Viewer displays data for the last Display range period of time and
removes all data prior to this time.
Refresh rate Configures the refresh rate of the Robot Viewer display during simulation —
(sec) this parameter has no effect on data collection. A high refresh rate updates
the display for smoother simulation, however, this requires a large amount
of computer resources. A low refresh rate may cause an “uneven” impression,
however, at the end of simulation, all the data is available for analysis.

3. Click OK.

Using the toolbar

The Robot Viewer provides the following toolbar in each of the panels, except for the Joint Status panel. It
provides the following functions:

Button Command Description

Clear Clears all data in the Robot Viewer. Resetting a simulation also clears data in the
Robot Viewer.
Print Prints the current data in the Robot Viewer.

Export Exports the current data to the clipboard, file, or printer. Data that is not
currently displayed in the Robot Viewer cannot be exported. The following file
formats are supported: BMP, JPG, PNG, and text for an Excel spreadsheet.
Settings Opens the Settings dialog box for the current Robot Viewer panel.

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 Monitoring robot joint values during simulation

Monitoring robot joint values during simulation

The Joint Monitor monitors the robot's joint values during simulation. It generates and displays a graphical
representation of their values at all points of time in the simulation. Each trace is comprised of finite points
in time where measurements are taken. The higher the sampling rate, the more accurate is the trace.
For information on configuring the sampling rate, refer to Configuring Global Settings for the Robot
Viewer. The cursor changes to a hand symbol when it touches a measurement and the measured values
are displayed in the top right corner of the Joint Monitor. When the cursor is not touching a measurement,
extrapolated values are displayed. The trace for each joint of the selected robot is displayed in a different
color.

In the Legend area, you can check joints to display them and select a trace color for each one. You can
display the lower and upper limits for each joint as a dashed line. This gives you a visual impression of the
state of the joint (but does not generate alarms). The limit line is displayed in the color of the relevant joint
trace.

The Joint Monitor also displays statistics concerning joint values during simulation. The Statistics area
shows the minimum and maximum values for each joint of the selected robot since the last reset of the
chart during the current simulation. When a joint value exceeds one of the working limits, its value is
highlighted in pink (by default) and when it exceeds its minimum or maximum value, it is highlighted in
purple (by default). For information on configuring these colors, refer to Appearance tab.

The Joint Monitor is only updated during a robot simulation.

Zoom in and out of the Joint Monitor

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 Procedure

1. Click and drag your mouse over the area of the Joint Monitor that interests you.
That area is enlarged.

2. Click and drag your mouse over the area of the zoomed view that interests you to view greater detail.

3. To zoom out, right click the display and select Undo Zoom from the popup menu . This
returns the display to its original size, regardless of how many zoom operations you performed.

Configure Joint Monitor settings

Procedure

1. Click in the Joint Monitor toolbar.

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 Joint Status

The Joints Monitor Settings dialog box appears.

2. Adjust the vertical scale of the Joint Monitor, as follows.

• Check Automatic Scaling.
or
• Check Manual and enter Min and Max values to configure the display for optimal viewing. If you
check Symmetric (min=max), it is sufficient to enter only one of these values.
3. In Graph Factors, enter values for Prismatic Joints and Revolute Joints to scale the display for
optimal viewing.
4. Click OK.

Joint Status

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 The Joint Status panel shows the current value for each joint of the selected robot (including external
joints) and their minimum and maximum values at given points in time. Alternatively, you can display the
current joint value as a percentage of the joint range, in which case, the minimum is shown as 0% and the
maximum as 100%.

The extremities of the joint range are referred to as the joint's working limits and are colored pink (by
default). For information on configuring this color, refer to Appearance tab. When a joint remains within
its working limits, it is working optimally and its slider is colored green. For information on how to
configure the size of the working limits, refer to Motion tab. When the joint exceeds one of the working
limits, its slider turns pink (by default). When it exceeds its minimum or maximum value, the slider turns
purple (by default). In these cases, the Value of the joint is also highlighted in these colors.

If Indicate joint working limits is clear (refer to Motion tab), the Joint Status panel is displayed only in
green.

If Limit joint motion is clear (refer to Motion tab), the Joint Status panel is displayed only in green.
However, if the robot exceeds its physical limits, the joint physical limit values will be highlighted in the
default color, which is purple.

The Joint Status is updated by any operation that causes the robot to move.

Use the Joints Status settings to display absolute values of the robot joints or joint values as a percentage
of the joint value range.

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 Procedure

1. Click Settings in the Robot Viewer.

The Joints Status Settings dialog box appears.

2. Click either Joints Values to display absolute values of the robot joints or Limits Percentages to
display joint values as a percentage of the joint value range.
3. Set Show motion range to display the range of joint motion. When set (top figure), the shaded
area represents the range in which the joint has moved, the black Joint Range markers mark the
extremities of that range, and the Min and Max columns note the values of those extremities. When
clear (lower figure), all these items are hidden.

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Digital Signals

4. When Show motion range is set, the motion range is continually updated. Click Reset range values

to zero the current range. Clicking Jump simulation to start in the Sequence Editor also
zeros the range.
5. Click OK to save the settings and close the Joints Status Settings dialog box.

Digital Signals

The Digital Signals panel displays the logical level of selected signals against time during a simulation. This
panel is only available when running in Line Simulation mode.

Procedure

1. In the Robot Viewer Digital Signals panel (refer to Robot Viewer), click Edit.
The Add Digital Signals dialog box appears.

2. In the Filter Signals by Type area, check Output Signals or Input Signals or both to filter the signals
displayed in the Available Digital Signals list, as desired.

3. In the Available Digital Signals list, select digital signals to display in the Robot Viewer and click
to move them to the Monitored Signals list.orIn the Monitored Signals list, select digital signals to

remove from the Robot Viewer and click to move them to the Available Digital Signals list.

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 4. In the Monitored Signals list, select signals and use the and buttons to order them in the
way you wish to view them in the Robot Viewer.
5. Click OK.
The Digital Signals panel of the Robot Viewer displays a graphic representation of the selected digital
signals.

The Digital Signals panel of the Robot Viewer is able to display up to six digital signals. It marks each
signal with the signal name and shows the Signals list, comprising the displayed signals, on the right
hand side of the panel.

To remove digital signals from the Digital Signals panel:

• In the Robot Viewer Digital Signals panel, select the signal(s) you wish to remove and click Remove.The
display of Robot Viewer Digital Signals panel is refreshed with only the signals in the Signals list.

Analog Signals

The Analog Signals panel displays the electrical level of selected signals against time during a simulation.
This panel is only available when running in Line Simulation mode.

Procedure

1. In the Robot Viewer Analog Signals panel (refer to Robot Viewer), click Edit.

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 The Add Analog Signals dialog box appears.

2. In the Filter Signals by Type area, check Output Signals or Input Signals or both to filter the signals
displayed in the Available Analog Signals list, as desired.

3. In the Available Analog Signals list, select analog signals to display in the Robot Viewer and click
to move them to the Monitored Signals list.orIn the Monitored Signals list, select analog signals to

remove from the Robot Viewer and click to move them to the Available Analog Signals list.

4. In the Monitored Signals list, select signals and use the and buttons to order them in the
way you wish to view them in the Robot Viewer.
5. Click OK.
The Analog Signals panel of the Robot Viewer displays a graphic representation of the selected
Analog signals.

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 The Analog Signals panel of the Robot Viewer is able to display up to six analog signals. It marks each
signal with the signal name and shows the Signals list, comprising the displayed signals, on the right
hand side of the panel.

To remove analog signals from the Analog Signals panel:

• In the Robot Viewer Analog Signals panel, select the signal(s) you wish to remove and click Remove.
The display of Robot Viewer Analog Signals panel is refreshed with only the signals in the Signals list.

Configuring Monitor Settings for the Robot Viewer Analog Signals Panel

For optimal viewing, you can adjust the vertical scale of the Analog Signals panel to suit the amplitude of
the selected analog signals.

To configure monitor settings for the Robot Viewer Analog Signals Panel:

Procedure

1. Select an analog signal and click in the Analog Signals panel toolbar.
The Analog Signals Monitor Settings dialog box appears.

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TCPF Speed

2. You can adjust the vertical scale of the Analog Signals panel.Check Automatic Scaling.orCheck
Specific Values and type values for Minimal Value and Maximal Value to create a display for
optimal viewing.
3. Click OK.

TCPF Speed

The TCPF Speed panel displays a graph of the speed of the robot TCPF. In the Legend area, you can set the
color of the trace. The Statistics area displays the minimum and maximum speeds of the robot TCPF.

Procedure

1. Click in theTCPF Speed toolbar.

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 Joint Speed and Acceleration

The TCPF Speed Settings dialog box appears.

2. Check one of the following:

• Automatic — The system configures the scale of the Y-axis automatically.
• Manual — The system displays the Y-axis between the Min and Max values you enter. The trace is
truncated if the TCPF speed exceeds these values.
3. Click OK.

Joint Speed and Acceleration

The Joint Speed & Acceleration panel displays graphs of joint speed and acceleration.

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 From Mode, select one of the following:

• Speed — The Joint Speed & Acceleration panel displays graphs of joint speed only.
• Acceleration — The Joint Speed & Acceleration panel displays graphs of joint acceleration only.
• Speed & Acceleration — The Joint Speed & Acceleration panel displays graphs of both joint speed and
acceleration.

In the Legend area, check the joints you wish to display and set a color for their traces.

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 The Statistics area displays the maximum values recorded in the graph for joint speed, acceleration, and
deceleration.

Procedure

1. Click in the Joint Speed and Acceleration toolbar.

The Joints Speed and Acceleration Settings dialog box appears.

2. In the Y-axis area, check one of the following:

• Automatic — The system configures the scale of the Y-axis automatically.
• Manual — Type Min and Max values to configure the display for optimal viewing. If you check
Symmetric (min=max), it is sufficient to enter only one of these values.
3. In Graph Factors, enter values for Linear speed, Angular speed, Linear acceleration, and Angular
acceleration to scale the display for optimal viewing.
4. Check or clear Show absolute speed value.
5. Click OK.

Power Consumption

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 During a simulation, the Power Consumption panel gathers energy data from the robot controller and
displays a graph of robot power consumption. This panel is only available for robots (this excludes other
kinematic devices).

The graph above shows the current Power Consumption of a robot during simulation in units of kW
(kilowatts).

The Statistics area on the right of the graph displays the following:

• Overall energy - The total energy consumption (in Joules) of the robot during simulation. This is the
sum of all the RCS updates until the simulation ends (or pauses).
• Peak power - The peak power consumption (in kilowatts) as sampled during the simulation. The system
also notes the time at which the peak energy consumption occurred.

The RCS controller has a different time interval than the simulation, therefore it is necessary to adjust the
RCS power data to the simulation to average the results. Therefore it is not advisable to use large time
intervals for the simulation which could lead to inaccuracies in the Power data displayed in the panel.
The data shown in the Statistics area of the panel is independent of the simulation’s time interval (taken
directly from RCS).

If you are not connected to a robot controller, i.e., you are using MOP (Motion Planner) simulation, the
Power Consumption panel displays the RCS not connected message in the title and if you are connected to
a controller that does not support power consumption, the panel displays the RCS not supported message.
The Power Consumption panel only displays motion power consumption.

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 Note
Currently, only the Kuka KRC robot controller, revision 8.3 and higher, supports power data.

Procedure

1. Click in thePower Consumption toolbar.

The Power Consumption Settings dialog box appears.

2. Check one of the following:

• Automatic — The system configures the scale of the Y-axis automatically.
• Manual — The system displays the Y-axis between the Min and Max values you enter. The trace is
truncated if the Power Consumption exceeds these values.
3. Click OK.

Move to Location

The Move to Location command enables you to move a robot to a location to facilitate analysis of the
robotic path to the location. You can stop and resume the movement to the location.

Procedure

1. Select a robot and choose Robot tab → Play group → Move Robot and click Move to Location.
Move to Location mode is activated and the cursor changes to .

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Play from this location

Note
You can also Move to Location by double-clicking a location in the Reach Test dialog box. Refer to
Reach Test for more details.

2. Click a global location in either the Graphic Viewer or the Object Viewer.
The robot moves toward the selected location. The Z-axis of the TCPF of the robot is matched to the
Z-axis of the selected location. If the selected location cannot be reached, the message Robot cannot
reach location is displayed in the status bar.

Note
• To stop the motion of the robot before it reaches the selected location, click the Move to Location
icon . To restart the motion, click the icon again.
• The cursor remains enabling you to move the robot again, as required

3. Move the robot to further locations as required.

Tip

To return the robot to the home position, choose Robot tab → Kinematics group → Home .
Refer to Home for more details.

4. To leave Move to Location mode and return to Select mode, View tab → Orientation group → Select
.

Play from this location

Select a robot and choose Robot tab → Play group → Move Robot and click Play from this Location.

Refer to Path Editor.

Play selected location from current robot

Select a robot and choose Robot tab → Play group → Move Robot and click Play selected location from
current robot.

Refer to Path Editor.

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 Teach Pendant

Teach Pendant
The Teach Pendant command enables you to define robotic location attributes in a robot's controller
in order to fine-tune robotic operations. When a robot performs a robotic operation, it performs the
operation according to parameters and commands stored in the robotic locations and logic defined in a
robot controller. A controller can be defined for each robot used in a robotic operation. The parameters for
each controller displayed in the Teach Pendent depend on the type of controller.

A default controller has a basic set of parameters and commands. The default controller can be used with
all robots. You can modify the parameters and commands, as required. Alternatively, you can purchase a
customized controller package for your robot type. This package contains the following components:

• Robot Controller Simulation (RCS) module

• Offline Programming (OLP) package

The RCS module for each robot is produced by the robot manufacturer and supplies accurate data for
motion planning and inverse kinematics. The manufacturer employs exact knowledge of the robot's
characteristics and limitations to create accurate joint values for robot motion and to plan the optimal
path of motion between points in space. The RCS module passes this information back to Process Simulate
in order to create a Realistic Robot Simulation (RRS). Using the RCS module results in a highly accurate
simulation.

If your simulation encounters a problem, the RCS module returns detailed warning and error messages that
can help you resolve the problem and improve the simulation.

To use the RCS for creating an RRS, you should also purchase the OLP package for your robot from
Tecnomatix. This is an add-in for all the Tecnomatix applications. It contains the following components:

• Simulation Controller
• Custom Teach Pendant
• Application for downloading robotic programs
• Application for uploading robotic programs

The Simulation Controller performs simulation according to the specific controller logic. The custom Teach
Pendant replaces the default Teach Pendant and allows the user to control parameters and commands that
are specific to this type of robot. The upload and download programs are also customized for your robot
type. They allow you to download completed robotic programs to your robot and to upload programs from
your robot.

The Teach Pendant feature automatically checks which controller is assigned to the robot for a particular
operation and opens it accordingly. If a controller is not assigned to a robot for that operation, the default
Teach Pendant is displayed. You can view a list of the controllers on your system in the Robot Properties
dialog box. This enables you to select controllers according to the requirements of the robotic operations.
For more information about controllers, refer to Display Robot Properties.

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Define robotic location attributes

Note
Tecnomatix may add controllers as required, and customers can define their own controllers with the
assistance of the Tecnomatix support team.

This video demonstrates teaching locations.

Note
Videos are not included in PDF. To access videos, use HTML.

Define robotic location attributes

Procedure

1. Select a robotic location, either in the Graphic Viewer or Object Viewer and choose Robot tab →
Teach group → Teach Pendant .
The TP dialog box of the robot associated with the selected operation is displayed with the name of
the currently selected operation in the title bar.

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 Note
You can also select multiple locations. In this case, the title bar of the Default Controller dialog box
displays the name of the first location in the group, followed by an ellipsis to indicate a selection of
multiple locations. The navigation buttons are disabled.

The Default Controller dialog box contains three sets of parameters, as follows:
• Motion Parameters: Specify how the robot moves in order to reach the selected location.
• Process Parameters: Specify the robot's working instructions during the selected operation.
• OLP Commands: Specify Off Line Programming (OLP) commands added to the simulation and set
the order that the robot performs them.

Note
Changing a parameter in the Teach Pendant affects the specific location. For example, changing the
Motion Type parameter of the selected location from Joint to Linear causes the robot to move in a
straight line from the previous location to the current location.

2. To browse in the Object Viewer in order to select locations, use the navigation buttons, as follows:

Button Description
Jumps to the parent path of the selected operation.

Moves up the tree to the previous location in the selected operation.

Moves down the tree to the next location in the selected operation.

Jumps to the last location in the scope of the immediate parent operation.

3. You can use the following icons: - Toggles the Jump to Location function. - Opens a third-

party setup dialog box for the selected controller. - Opens a Help document for the default
controller.
4. In the Motion Parameters area, specify how the robot should move in order to reach the selected
location, as defined in Motion Parameters.
5. In the Process Parameters area, specify the robot's instructions during the operation, as defined in
Process Parameters.

Note
Process parameters do not apply to via locations.

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 6. You can also configure OLP commands to run during your simulation, as defined in OLP Commands.
7. If you are not satisfied with the changes you made, use the Undo button.
8. Click Close to close the Default Controller dialog box.

This video demonstrates OLP motion.

Note
Videos are not included in PDF. To access videos, use HTML.

This video demonstrates OLP commands.

Note
Videos are not included in PDF. To access videos, use HTML.

Setting motion parameters when defining robotic location attributes

The following table describes the motion parameters used when defining robotic location attributes:

Parameter Description
Motion Type Determines the exact path of the robot's TCPF from its current position to the defined
location. The following values are available:

• PTP - Moves the joints in the most efficient way and disregards the path of the robot's
TCPF.
All the robot joints begin each movement together and finish together. The duration
of a movement cannot be shorter than that allowed by the joint which, when
operating at its maximum allowable speed, requires the longest time to complete the
movement. The other joints operate accordingly at speeds lower than their maximum.
If the speed specified for the TCPF or final frame is less than the allowed maximum
speed, the speed of each joint is reduced proportionately.
• Lin - Causes the origin of the TCPF to move in a straight line between locations.
• Circ - Moves the robot's TCPF along an arc. This motion is used primarily in arc-welding
or sealing processes.
Speed Specifies either the Cartesian speed (if Motion Type is set to Lin or Circ) or percentage of
the maximum speed (if Motion Type is set to PTP) .
Zone Determines the precision by which the robot's TCPF reaches intermediate locations as
it performs motion commands. Intermediate locations (via locations) are those through
which the robot passes without stopping. These are all of the locations except the last
location in a path, as well as all the locations where, when reached by the robot, a delay

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Setting motion parameters when defining robotic location attributes

Parameter Description
or wait command is specified. The numeric values of the different zones are defined in
the robot parameters.e file under the robot .cojt component directory. The following
values are available:

• fine: The simulation is performed with exact robot reach and full stop.
• medium
• coarse
• nodecel: Optimal performance. The simulation is performed in a smooth flowing
motion.
Work Tool Specifies which tool to use for a specific operation. This field is enabled only if a robot is
assigned to this operation at the current location.

Select the required tool from the dropdown list.

If you defined a Work Tool, any selected Tool Frame or Remote TCP Frame is reset.
Tool Frame Specifies the TCPF for a specific operation.

A robot's TCPF should always be specified, whether there are mounted tools or not.
However, for operations in which several tools are used, the toolframe definition must be
specified for each location. For more information about specifying a robot's TCPF, refer to
Mount Tool.

To specify the tool frame, select the required frame, either in the Graphic Viewer or
Object Viewer, or manually enter the name of the frame in the Tool Frame field.

If you defined a Tool Frame, any selected Work Tool or Remote TCP Frame is reset.
Remote TCP Specifies the remote TCP to be used in mounted workpiece configuration.
Frame
If you defined a Remote TCP Frame, any selected Work Tool or Remote Tool Frame is
reset.
Object Frame Specifies a motion-related frame.

By default, motion occurs relative to the robot's Reference frame. However, there are
some processes and controllers that require that an additional reference frame be
specified to which motion is relative. These include when the motion is relative to a
moving frame, and when the values specified in the controller are relative to several
reference frames, in which case the motion frame must be specified.

To specify the Object frame, select the required frame, either in the Graphic Viewer or
Object Viewer, or manually enter the name of the frame in the Object Frame field.

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 Setting process parameters when defining robotic location attributes

Setting process parameters when defining robotic location attributes

The following table describes the process parameters used when defining robotic location attributes:

• For a pneumatic gun:

Parameter Description
Gun State Specifies the state of the gun during the operations. The following values are available:
◦ Open - Moves the gun to the open pose.
◦ Semi-Open - Moves the gun to the semi-open pose.
◦ Closed - Moves the gun to a closed state.
◦ No Change - No movement. This is the default pose.

Note
Each of these poses should be defined in the Pose Editor.

Gun Wait Specifies whether the robot should wait until the gun is open before continuing its
movement, or if it should continue its movement while the gun changes state. The
following values are available:
◦ Wait - The robot waits until the gun has reached its specified state.
◦ No Wait - The robot continues its movement and does not wait for the gun to reach
its specified state. This is the default state.
Weld Time Specifies the time in seconds for the robot to perform a weld. For example, during the
time when there is a flow of electricity.

Note
This parameter applies only to weld location operations.

Cool Down Specifies the time in seconds that the robot waits after performing a weld and before
Time continuing to the next weld point. For example, during the time when the gun is still
closed.

Note
This parameter applies only to weld location operations.

• For a servo gun:

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Setting process parameters when defining robotic location attributes

Parameter Description
Servo Value The servo gun opening in millimeters.
Weld Time Specifies the time in seconds for the robot to perform a weld. For example, during
the time when there is a flow of electricity.

Note
This parameter applies only to weld location operations.

Cool Down Specifies the time in seconds that the robot waits after performing a weld and
Time before continuing to the next weld point. For example, during the time when the
gun is still closed.

Note
This parameter applies only to weld location operations.

• For a pneumatic servo gun (asynchronous servo gun):

Parameter Description
Gun Position The pneumatic servo gun position.
Weld Time Specifies the time in seconds for the robot to perform a weld. For example, during
the time when there is a flow of electricity.

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 Using OLP commands when defining robotic location attributes

Parameter Description

Note
This parameter applies only to weld location operations.

Cool Down Specifies the time in seconds that the robot waits after reaching a location and
Time before continuing to the next location. For example, during the time when the gun
is still closed.

Note
This parameter applies only to weld location operations.

Using OLP commands when defining robotic location attributes

Offline programming (OLP) is a method of robot programming where the robot program is created
independently from the actual robot. The program is then uploaded to the robot for execution. One major
advantage of OLP is that it prevents interference with routine robot operation. You can use the following
OLP commands when defining robotic location attributes:

Procedure

1. In the OLP Commands area, click Add.

The Text menu appears.

2. Do one of the following:

• If you wish to add an OLP command by typing its syntax, click Free Text.
The Free-Text dialog box appears.

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 Type the command and click OK.
The default controller supports the following syntax:
◦ Logic operators : AND, OR, NOT
◦ Parentheses
◦ False
◦ Decimal values
◦ Arithmetical operators : +, - , *, /
◦ Program flow operators
◊ # If <condition> Then [ex # If (a + b) > c Then]
◊ # Elsif <condition> Then [Ex # Elsif A OR B Then]
◊ Else
◊ Endif
◊ # For <var> From <start> To <end> Step <step> Do [ex # For I From 1 To 10 Step 2 Do]
◊ # For <var> From <start> To <end> Do
◊ Endfor
◊ # While <expression> Do [Ex # While a < 100 Do]
◊ # Endwhile
◊ # Switch <expression> [Ex # Switch (a+b)]
◊ # Case <val1>, <val2> [Ex # Case 2 or # Case 2,3]
◊ Default
◊ Endswitch
• Click Standard Commands.

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 The OLP Commands menu appears with the commands appearing in eight groups.

For a complete list of the OLP commands available for the default controller, refer to OLP
Commands for Default Controller.

Note
If you are configuring an OLP command (Attach, Detach, Blank, Display) with a part with static
appearances, always select the primary appearance. If you select any other appearance, Process
Simulate automatically exchanges the selected appearance for the primary appearance (or the
original part if no appearance is set as primary). For more information, refer to Multiple Part
Appearance.

3. Perform any of the following optional actions:

• To edit an existing OLP command, double-click the command, edit the relevant values in the
command dialog box, and click OK.
• Select a command and use the up and down arrows to move it to the desired position.
The robot performs the commands in the order you arrange them.

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OLP commands for the default controller

• Right-click an OLP command and select any of the following. You can copy and paste commands
within a location or operation, and from one location or operation to another. You can also paste
commands after closing and re-opening the Teach Pendant.
◦ Cut - To cut the command and store it in the clipboard.
◦ Copy - To copy the command to the clipboard.
◦ Paste - To paste the command from the clipboard below the selected command.

Note
If you do not select an entry point when pasting OLP commands, the command is pasted at
the bottom of the list.

◦ Delete - To delete the selected command.

◦ Ungroup - To separate OLP commands. For more information, refer to the Robotics Customized
User Interface Manual documentation.
◦ Show Layers - To display the layers of the selected OLP command(s).

• If necessary, click Clear All to remove all the OLP commands from the list.

OLP commands for the default controller

This table describes the OLP commands available for the default controller:

Note
During simulation, the OLP command is executed after the robot completes its motion towards the
location on which the command is stored.

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 OLP commands for the default controller

Group Command Description

File OpenFile

Opens a file for editing. The Mode setting enables you to Append or
Overwrite file content. Also, set a Handle to be used in the next WriteLine
and CloseFile commands and a Name for the path to the file to be opened.
CloseFile

Closes an open file. Set the Handle of the file that was opened with the
OpenFile command.
WriteLine

Enables you to write a line of text in an open file. Set the Handle of the
file that was opened with the OpenFile command and write the text in the
Expression field. Use double quotes to print the value of a variable or a signal,
for example, type “E1” to write the value of signal E1.
Graphic Blank Blanks the selected Object in the Graphic Viewer.
s

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OLP commands for the default controller

Group Command Description

Display Displays the selected blanked Object in the Graphic Viewer.

Paint OpenPaint Opens the current paint gun for painting.

Gun
ClosePaint Closes the current paint gun.
Gun
Change Changes the current brush to the selected Brush Name.
Brush

Part Attach Attach a selected component to another component or link.

Handlin
g

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 OLP commands for the default controller

Group Command Description

Note
If you select an entity, the entity's collection is automatically displayed in
the To Object field. If the entity's collection is a block, the lowest ancestor, a
link or a component, is displayed.

Detach Detaches the selected attached component.

Grip Moves the gripper to the specified pose and attaches the part to it. This
command is automatically added to grip locations in Pick and Place operations
and is preferable to the Attach OLP command for part handling.

Select a Gripper and from Attach object to frame, select a frame on the
gripper to which the gripped object is attached. You can check Drive gripper
to pose and select a pose for the gripper.

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OLP commands for the default controller

Group Command Description

For more information, refer to Tool Definition.

Release Moves the gripper to the specified pose and detaches the part from it.
This command is automatically added to release locations in Pick and Place
operations and is preferable to the Detach OLP command for part handling.

Select a Gripper and from Detach object from frame, select a frame on the
gripper from which to release a gripped object. You can check Drive gripper
to pose and select a pose for the gripper.

Progra Macro Calls the selected Macro program. After the macro has finished execution,
m simulation resumes the branch point.
Flow

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 OLP commands for the default controller

Group Command Description

CallPath Changes the flow of the simulation to another path. At the end of the path,
simulation resumes the branch point.

CallProg Changes the flow of the simulation to another program. At the end of the
program, simulation resumes the branch point. The available programs are
stored on the robot; refer to Robotic Program Inventory.

Robot Cycle Specifies when the cycle time calculation should begin.
Cycle Start
Time
Cycle Specifies when the cycle time calculation should end.
End
TimerOn Enables you to create a custom timer, name it, and define when it starts
tracking the time associated with a certain part of the simulation.

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OLP commands for the default controller

Group Command Description

Note
The following are internal (built into the system) timers: motion to location
time, wait device time, weld time, wait time, and wait signal time.

TimerOff Enables you to define when a timer is stopped during a specific cycle.

Synchro Send Signal Defines which signal is sent to which robot. You can specify the Signal Name,
n its Value, and the Destination robot.
ization

Note
• Both boolean and analog signals are supported.

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 OLP commands for the default controller

Group Command Description

• Any integer value can be assigned to a signal.
• You should be careful, however, to define PLC signal types relevant to the
command in question.
• In line simulation mode, the robot sends a robot signal to the PLC (PLC
input).
• In event-based simulations, the Destination always remains blank.

SetSignal Enables you to compose an Expression for the value of the selected robot
output signal.

Wait Enables you to select a Signal Name and Value. When the signal is set to the
Signal selected value, the robot resumes simulation.

Note
• In line simulation mode, the robot waits for a robot signal from the PLC
(PLC output).

WaitTime The time interval in seconds that the robot waits before the next command is
performed. For example, you may have the robot wait two seconds before the
gun opens.

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OLP commands for the default controller

Group Command Description

Tool Connect Connects an external axis to the selected Device on the selected Joint at the
Handlin Index position.
g

Disconnect Disconnects the external axis currently connected to the selected Object.

Drive Moves the Device to the Target Pose.

Device

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 OLP commands for the default controller

Group Command Description

GunTo Instructions for moving the gun to its specified pose, as specified in the Gun
State State parameter.

In the case of a Servo Gun, this moves the Servo Gun to the position specified
by the depart value. (Refer to Set External Axes Creation Mode.) If no depart
value has been defined, this moves the Servo Gun in accordance with the Gun
State parameter.
Mount Enables you to mount a tool on the current robot.

Unmount Enables you to unmount the tool currently mounted on the robot.

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OLP commands for the default controller

Group Command Description

Wait When the Device reaches the Target Pose, the robot resumes simulation.
Device

Drive Device Enables you to select a device and desired Joint Values. Check Synchronize
Joints motion with robot if you wish the robot to set its joint value at the same time
as moving to the next location in its path.

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 To add OLP commands from a text file

Group Command Description

To add OLP commands from a text file

In the OLP Commands area, add the Macro n command (using the command syntax for the specific
controller), where n is the name of the macro.

The controller performs all the OLP commands contained in the macro whose name is n and which is
stored in the controller's macro file. This file is stored in a library whose location is defined in the Motion
Tab. Using a text file allows you to prepare a standard set of commands and attach them quickly and
consistently to multiple operations.

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Set Robots for Auto Teach

Set Robots for Auto Teach

For information on this topic, refer to Sequence Editor or Path Editor.

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 Clear Teach Location

Clear Teach Location

For information on this topic, refer to Sequence Editor.

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Visible Shell On/Off

Visible Shell On/Off

By default, the RCS is run in the background. Choose Robot tab → Tools group → Visible Shell On/Off
to toggle the RCS shell to run as a visible shell or to run in the background.

When the RCS Shell is visible, any output is immediately available to help assist debugging RCS issues
(initialization failure, etc.).

OLP Tools

Define Gun Main Joint

The Define Gun Main Joint tool enables you to define the main joint of a servo gun or pneumatic servo
gun.

Note
This is required for pneumatic servo gun simulation as well as for servo gun hot swap simulation if the
gun is modeled with more than a single prismatic joint.

Procedure

1. Select a servo gun or pneumatic servo gun.

2. Choose Define Gun Main Joint .

The Define Gun Main Joint dialog box appears.

3. Pick the Main Joint.

4. Click Apply to store your choice.

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 Delete Robotic Parameters

Delete Robotic Parameters

The Delete Robotic Parameters tool enables you to delete all the existing robotic parameters of the
selected locations.

Note
You can view robotic parameters with the Robotic Parameters Viewer.

Procedure

1. Select locations and/or operations.

2. Choose Robot tab → OLP group → Robot Parameters and select Delete Robotic Parameters .
The Delete Robotic Parameters dialog box appears.

3. Check Keep motion type if you wish to exclude the RRS Motion Type parameter from the deletion.
4. Click OK to complete the deletion.

Delete robot system frames

The Delete Robot System Frames command deletes all system frames of the selected robot(s).

• Confirmation is requested before deleting, explaining the consequences.

• Robotic Parameters (of locations and operations) that refer to these system frames are removed.
• Robotic parameters which have as their value a robot system frame are deleted.
• The robot system frames are deleted from the study.

Mark Current Rail Value

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 The Mark Current Rail Value tool enables you to copy the current rail value to the selected locations.

Procedure

1. Choose Robot tab → OLP group → Mark Current Rail Value.

2. Select locations belonging to a robot on a rail.

3. Choose Mark Current Rail Value .The rail value of all the locations with the current rail position
are created/updated.

Rail Jog with Locked TCPF

The Rail Jog with Locked TCPF tool enables you to jog a rail while keeping the robot TCPF at a fixed
position.

Procedure

1. Select a location.

2. Choose Rail Jog with Locked TCPF .

The Rail Jog with Locked TCPF dialog box appears.

3. Jog the rail using the slider or by typing a numerical value.

4. Optionally, you can adjust the jogging step size using the Step link.

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 Replace External

5. Click Update Location to update the location external axes with the current rail value.

Note
If the robot is unable to force its TCPF to remain at the current location, Update Location is
disabled.

6. Optionally, click Reset to return the rail to the rail value stored in the location external axes.

Note
Reset is disabled if the location does not yet have a rail value.

Replace External

The Replace External tool enables you to copy external axes values of the selected robot from one device
to another.

Procedure

1. Select a robot.

2. Choose Replace External .

The command verifies that the selected robot has at least one external axis and the Replace External
dialog box appears.

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Robotic Parameters Viewer

3. Select the Device and Joint for the Obsolete external joint.
4. Select the Device and Joint for the New external joint.

Note
• If the obsolete and new external joints are not of the same type (prismatic, rotational), OK
remains inactive and you cannot proceed.
• If the obsolete and new external joints are identical, OK remains inactive and you cannot
proceed.
• It is possible to select a joint that is still connected or that was already disconnected as the
obsolete joint.
• It is possible to select a joint that is not yet connected or that was already connected for the new
joint.

5. Click OK.
The tool performs the following:
• Copies the external axis value from the obsolete joint to the new joint for all locations assigned to
the selected robot.
• Connects the new external joint to the robot if not already connected.
• Disconnects the obsolete external joint from the robot if not already disconnected.

Robotic Parameters Viewer

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 The Robotic Parameters Viewer command enables you to view all the robotic parameters of a location,
operation, or robot.

Procedure

1. Select a location, operation, or robot.

2. Choose Robot tab → OLP group → Robot Parameters and select Robotic Parameters Viewer .
The Robotic Parameters Viewer appears displaying the robotic parameters and their values for the
selected object.

Note
If you select another object, the Robotic Parameters Viewer is refreshed and displays the robotic
parameters and their values for the new object.

Note
The calculation for Load Assist (a system with more than 6 driving joints) creates locations and sets the
OLP_TAUGHT_POSE_DATA robotic parameter for each location. This parameter indicates the Load Assist
joint values for each selected location (in the Robotic Parameters Viewer):

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Robot Parameter Editor

Robot Parameter Editor

The Robot Parameter Editor enables you to import, export, and edit robots' robotic parameters.

Procedure

1. Select a robot and choose Robot tab → OLP group → Robot Parameters and select Robotic
Parameter Editor.

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 The parameters displayed are based on the XML parameter definition files located
at ...Robotics\Olp\<ControllerInstallationFolder>\RobotParameterEditor.
The syntax of the parameter definition files is as follows:

<RobotController Name=”ControllerName” Version=”version1, version2,….”>

<RoboticParams>
<Param Name=”paramName” ValueType=”int” MaxVal =”maxValue”
MinVal=”minValue” Default="defaultValue" />
<Param Name=”paramName” ValueType=”double” MaxVal=”maxValue”
MinVal=”minValue” Default="defaultValue" />
<Param Name=”paramName” ValueType=”string” Default="defaultValue"

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 MaxLength = "maxLength">
<ComboDef>
<ElmDef>elementValue1</ElmDef>
<ElmDef>elementValue2</ElmDef>
...
</ComboDef>
</Param>
<Param Name=”paramName” ValueType=”vector” MaxValX=”maxX”
MaxValY=”maxY” MaxValZ=” maxZ” MinValX=minX” MinValY=”minY” MinValZ=”
minZ” />
<ArrayParam Name="arrayName[%1]" ValueType="double" MaxVal
=”maxValue” MinVal=”minValue” MinIndex1 = "minIndex1" MaxIndex1 =
"maxIndex1"/>
<ArrayParam Name="arrayName[%1]" ValueType="int" MaxVal =”maxValue”
MinVal=”minValue”MinIndex1 = "minIndex1" MaxIndex1 = "maxIndex1"/>
<ArrayParam Name="arrayName[%1,%2]" ValueType="double" MaxVal
=”maxValue” MinVal=”minValue”MinIndex1 = "minIndex1" MaxIndex1 =
"maxIndex1"MinIndex2 = "minIndex2" MaxIndex2 = "maxIndex2"/>
<ArrayParam Name="arrayName[%1,%2]" ValueType="int" MaxVal
=”maxValue” MinVal=”minValue” MinIndex1 = "minIndex1" MaxIndex1 =
"maxIndex1"MinIndex2 = "minIndex2" MaxIndex2 = "maxIndex2"/>
<ArrayParam Name="arrayName1[%1].arrayName2[%2].paramName"
ValueType="double" MaxVal =”maxValue” MinVal=”minValue” MinIndex1 =
"minIndex1" MaxIndex1 = "maxIndex1"MinIndex2 = "minIndex2" MaxIndex2 =
"maxIndex2"/>
<ArrayParam Name="arrayName1[%1].arrayName2[%2].paramName"
ValueType="int" MaxVal =”maxValue” MinVal=”minValue” MinIndex1 =
"minIndex1" MaxIndex1 = "maxIndex1"MinIndex2 = "minIndex2" MaxIndex2 =
"maxIndex2"/>
...
</RoboticParams>

</RobotController>

<ArrayParam> is used to create one- or two-dimensional arrays of parameters of the same type.
• Square [ ] and curly { } brackets are supported for array definitions. For example:
◦ An ArrayParam with Name = "exampleParam[%1]", MinIndex1 ="0" and MaxIndex1 = "9" creates
the following 10 parameters: exampleParam[0], exampleParam[1],....exampleParam[9]
◦ An ArrayParam with Name = "exampleParam{%1}", MinIndex1 ="0" and MaxIndex1 = "9" creates
the following 10 parameters: exampleParam{0}, exampleParam{1},....exampleParam{9}
• Parameters are displayed in the order they appear in the XML file (in case of multiple files, files are
read in alphabetical order of their names).
• Array parameters are grouped under expandable nodes.
2. Set Show undefined parameters to display only parameters that are set on the robot. If this option is
cleared, all the parameters defined in the XML files are displayed.

3. Perform any of the following optional actions:

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 Set Gantry Positions

• Click Import to import robotic parameters stored in a file. The file must have the following syntax:

<RoboticParams Controller=”ControllerName” RobotName=” RobotName”

ControllerVersion=” ControllerVersion” RCSVersion=”RCSVersion”
ManipulatorType=”ManipulatorType”>
<Param Name=”paramName” Value=”paramValue”/>
...
</RoboticParams>

• Click Export to export the parameters currently displayed to an XML file. Empty parameters are
skipped.
• If necessary, right click a parameter and select Clear item to remove its value.
• Click Apply to save the displayed parameter values on the selected robot or OK to do the same and
close the dialog box.
• It is also possible to use pre-import and post-export scripts to import and export
parameters in another syntax. In this case, the relevant scripts must be placed
under ...Robotics\Olp\<ControllerInstallationFolder>\RobotParameterEditor and named as follows:
◦ <ControllerNameWithoutHyphen>PreImport - The script requires the path to the import target
file and the path to the temporary file in which the script records the parameters in the general
xml syntax.
◦ <ControllerNameWithoutHyphen>PostExport - The script requires the path to the export file in
which to record the exported parameters according to the general xml syntax.
4. Click Close to exit the Robot Parameter Editor.

Set Gantry Positions

The Set Gantry Positions tool enables you to copy the gantry offset from a specified robot reference pose
to the external axes of selected locations.

Procedure

1. Select locations and/or robotic operations. Selecting operations causes all the selected operations'
locations to be selected.

2. Choose Set Gantry Positions .

The Set Gantry Positions dialog box appears.

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 3. Optionally, pick additional locations.
4. Select the Robot Pose from which the gantry offset setting is to be copied.
5. Select one of the following calculation methods.
• Keep Absolute Cartesian Delta
◦ The application measures the Cartesian delta between the gantry flange and the robot TCPF
(when the robot is in target posture and the gantry at its initial position) in the World coordinate
system.
◦ The application then offsets each location by this absolute delta (in the World coordinate system)
and tries to superimpose the gantry flange on this offset position.
• Keep Relative Cartesian Delta
◦ For the first location, the application uses the previous method with the absolute Cartesian delta.
◦ After the gantry is jumped to the first location solution, the application computes the local offset
between the gantry flange and the location in the following local coordinate systems:
◊ Centered on the location.
◊ Axis Z pointing vertically upwards.

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 Shift Locations by TCP Offset

◊ Axis X: Projection of the direction towards the next location in the horizontal plane.
◦ For the next locations, the application recalculates a new local coordinate system and applies the
local offset to get the gantry flange target position.
6. Click OK. The external axis of the selected locations are updated. A list of locations for which the
calculation failed is generated and displayed in a report.

Shift Locations by TCP Offset

The Shift Locations by TCP Offset tool enables you to realign the locations created with an incorrect robot
TCPF.

Procedure

1. Select locations and/or robotic operations. Selecting operations causes all the selected operations'
locations to be selected.

2. Choose Shift Locations by TCP Offset .

The Shift Locations by TCP Offset dialog box appears.

3. Pick the Wrong TCP and Correct TCP (you can pick frames or locations).
4. In Apply to, select one of the following filters:
• All Locations - The command is applied to all selected locations.
• Only Via Locations - The command is applied only to via locations (weld and seam locations are
skipped).

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 5. In Update, select one of the following update methods:
• All - The command updates both the translation and orientation parts of the selected locations.
• Translation - The command only updates the translation part of the selected locations (orientation
remains unchanged).
• Orientation - The command only updates the orientation part of the selected locations (translation
remains unchanged).
6. Click OK. All selected locations are shifted by the offset between the wrong and correct TCP.

Note
Taught positions are also updated.

Shift Rail Value

The Shift Rail Value tool enables you to shift the rail value on selected locations.

Procedure

1. Select locations or operations belonging to a robot on a rail. Selecting operations causes all the
selected operations' locations to be selected.

2. Choose Shift Rail Value .

The Shift Rail Value dialog box appears.

3. Set the Shift value by which to shift the rail value on the selected locations (the numeric control only
accepts valid rail values).
4. Click OK. The rail values are updated on the selected locations (locations lacking existing rail values
remain unchanged).

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 Smooth Circular Motions

Smooth Circular Motions

The Smooth Circular Motions tool enables you to make circular motions smooth. This is done by
optimizing the position of circular via locations.

Procedure

1. Select robotic operations.

2. Choose Smooth Circular Motions .

The command identifies circular motions and does the following:
• Moves circular via locations to the exact middle of the arc (between circular start and circular end
locations).
• Updates the circular via orientation to be the half-way interpolation between the start and end
locations orientations.

Smooth External

The Smooth External tool enables you to set the external axis values along a path.

Procedure

1. Select one or more locations, or one robotic operation.

2. Choose Smooth External .

The Smooth External dialog box appears.

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 • Start and End locations are already populated from the active selection: first and last locations in
the robotic operation or first and last locations if several are selected. If necessary, you can change
the selection.
• If the robot has more than one external axis, select the external joint(s) you want to interpolate.
• Select whether you want to keep or overwrite any intermediate external values already defined
3. The External joints list is populated with the connected external axes of the assigned robot. Check
the joints you wish to smooth and clear those you wish to leave untouched.
4. In From location and To location, select start and end locations in a robotic operation.
• These locations must already have a definition for an external value.
• If the robot has more than one external axis, select the External joint(s) you want to interpolate.
5. Optionally, check Keep intermediate defined external values. If clear, make sure the selected From
and To locations already have an external value defined.
6. Click OK.
The application does the following:
• Creates/updates the external joint values on all locations between the selected start and end
locations.
• Interpolates the external joint values set on the start and end locations with the relative Cartesian
travel distance from the start location, along the path.

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 Smooth Rail

• If Keep intermediate defined external values is set, the interpolation is performed on each
segment between two locations with a defined external value. Locations with an existing external
value remain unchanged.

Smooth Rail

The Smooth Rail tool enables you to set rail values along a specified path.

Procedure

1. Choose Smooth Rail .

The Smooth Rail dialog box appears.

2. In From location and To location, select start and end locations.

Note
These locations must already have a definition for a rail value.

3. In Method, select one of the following:

• Interpolate On Travel Distance - The application interpolates the rail values set on the start and
end locations along the path with the relative Cartesian travel distance from the start location.
• Project Locations On Rail Axis - The application interpolates the rail values set on the start and
end locations with the relative positions of each location along the rail.

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External axes creation mode

4. Click OK. The application creates/updates the rail values on all the locations between the selected
start and end locations, according to the selected Method.

External axes creation mode

• Choose External Axes Creation Mode to toggle the external axes creation mode.If external axes
creation mode is toggled on when creating a new via location, external axes values are copied from the
existing values of the joint. If external axes creation mode is off, they remain empty.

Set External axes values

The Set External Axes Values command enables you to configure and store the approach values of
external axes for robot joints (rails, Servo Guns, etc.). For Servo Guns, you can also configure the depart
values. The external axes are first defined in Robot Properties at a selected location and when the robot
reaches this location, the external axes are positioned at the stored values.

Procedure

1. Select one or more robotic locations or an operation in the Object Viewer or in the Graphic Viewer.

2. Choose Set External Axes Values .

The External Joints dialog box is displayed.

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 The selection of an operation or locations at the beginning of this procedure affects the appearance
of the External Joints dialog, as follows:
• If you selected an operation, the first location in the operation appears in the Navigate to Location
field.
• If you selected a single location, the location appears in the Navigate to Location field.
• If you selected more than one location, the Navigate to Location field is disabled, but the changes
you make in this procedure apply to all of the selected locations.
3. Use one of the following methods to select the joint whose approach values (and depart values for
Servo Guns) you want to configure:
• Select a joint from the External Joints list.

• Browse the location with the buttons. The browsing buttons are disabled if you
preselected multiple locations.
• Select locations from any viewer.
4. To set an approach or depart value, check the relevant checkbox. Process Simulate retrieves the
relevant value from the Joint Jog dialog and displays it in the relevant Value field. You can edit this
value if you wish.

Note
• Only Servo Guns have a depart value. Other external axes, for example, rails, have no depart
values.

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 • The values of the robot’s external axes are stored at the current location. When the robot reaches
this location, the external axes are positioned according to these values.
• In the Path Editor, the External Axes Values and Depart External Axes Values columns
indicate how many external axes have been defined at the selected location, and of these, how
many axis values have been set with this command. Point at a cell in the column to display a
tooltip with the set values.

5. You can click to enter Follow mode and synchronize between the Set External Axes Values and
Joint Jog dialogs. When the Follow mode is active, the current values are updated immediately in the
Joint Jog dialog.

6. You can select a joint or multiple joints and click to retrieve the current joint Approach and
Depart values from the Joint Jog dialog. Alternatively, right-click the selected joints and select Get
Current Joint Value or click the Joint column header to select all the joints. This command is enabled
when you select at least one joint that has an approach or depart value.
7. If required, click Reset to discard the changes made in the current location of the External Joints
dialog and restore the Approach and Depart values.

Clear External Axes Values

• Choose Clear External Axes Values. The command enables you to clear previously set external values.

Note
This command also supports selected compound operations.

Robotic operation merge

The Robotic Operation Merge command enables you to merge selected elements of one operation with
another operation. The command supports weld, continuous and seam operations but both source and
target operations must be of the same type. After merging the source operation with the target operation,
the updated target operation contains the new set of information.

This is useful if, for example, you have used Download to Robot to load your program on a shop-floor
robot. You can then edit and fine-tune the program on the robot itself and use Upload program to store
the updated program back to the server. In order to make use of your shop-floor improvements, you can
merge the changes in the shop-floor program (the source) into your original program (the target).

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 Merge robotic operations

Note
Information stored on the locations of the source operation, such as approach vectors, OLP commands,
and attributes, is copied to the target operation locations. This function is important if you wish to
re-project an mfg, as it means you can perform Robotic Operation Merge after running Project
Continuous Mfgs in order to retain this information.

Note
Overview of Merging Robot Operations

1. Select target and source operations (in the Select Operations dialog box).
2. Indicate by which criteria Automatic Matching should match locations (in the Settings dialog box).
3. Indicate which fields to copy from source to target operation when the merge is executed (in the
Settings dialog box).
4. Match locations using either the Automatic Match option or the manual Match and Alternate
Match options (in the Robotic Operation Merge dialog box).
5. Edit the target operation — removing, reordering and inserting locations in preparation for the
merge (in the Robotic Operation Merge dialog box).
6. Click Execute to merge the operations. The system saves the changes and displays them in the
viewers only after executing the merge (in the Robotic Operation Merge dialog box).

While configuring the merge in the Robotic Operation Merge dialog box, no changes are made to the
database or in the viewers. The system saves the changes and displays them after you execute the merge.

Merge robotic operations

Procedure

1. Choose Robot tab → OLP group → Robotic Operation Merge .

The Robotic Operation Merge - Select Operations dialog box appears.

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 2. Click in Target operation and select the target operation in the Object Viewer (or other relevant
viewer). This is the operation you wish to update with information from another operation.
3. Click in Source operation and select the source operation in the Object Viewer. This is the operation
from which you wish to retrieve information.

Note
• Both the Target operation and Source operation must be of the same type; weld, continuous or
seam.
• Both the Target operation and Source operation must be assigned to the same robot, or to no
robot.

4. Click OK.
The Robotic Operation Merge dialog box appears displaying the Target Operation as a tree together
with its locations in black text in the left pane and the Source Operation tree together with its
locations in brown text in the right pane.

Note
If you select an operation before launching Select Operations, this operation appears in Target
operation.

5. Click to replace the selected operations with different source and target operations.
6. Configure either manual or automatic matching, as follows:

Note
After performing matching, irrespective of the method used, the system automatically populates
the Merge Schema cell for the matched target operation/location. It also adds a checkmark to the
Merge cell of the relevant pair. Clear this checkbox if you wish to omit the pair when executing the
merge.

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 • If you wish to match operations/locations manually, select a source operation/location and a target

operation/location and click .

Note

You can only match source operations/locations with target objects of the identical type.

Next to Target Operation, the Match column displays the name of the source location you
are matching and Distance displays the distance between the target and source locations. This
combination is known as a matched pair. The source operation in the right pane is marked with
to indicate that it has been matched with a target location.

Note
You can match a source location to more than one target location.
Repeat the manual match process for all locations you wish to match.

• If you are matching an Mfg, you can click to use an alternative set of merge attributes. For
information on configuring which source attributes the system merges, refer to Configure Robotic
Operation Merge Settings.
7. If you wish to match source operations/locations with target operations/locations automatically, click
. The system matches up pairs of locations either by name or by distance (depending on the
criteria set in Configure Robotic Operation Merge settings) and displays them as matched pairs.

Note
If you set manual matches before invoking automatic match, the system retains your manual
matches and matches all the other locations automatically.

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 8. If necessary, click to unmatch selected matched pairs. For each matched pair, the source
location is removed from Match, the distance from Distance, Merge is cleared, and is removed
from the source location (unless this is still matched with another target location).
9. The system automatically sets the Merge Schema column as follows:
• Default or Alternative - For a matched Mfg.
To change an Mfg Merge Schema setting, right-click the setting and select the other setting.
• Via - For a matched via location.
• Operation - For a matched operation.
• <Empty> - The Merge Schema cell remains empty for an unmatched item.
For each Merge Schema setting, you can configure exactly which parameters are merged and which
remain unchanged. For more information, see Configure Robotic Operation Merge Settings.
10. Perform any of the following optional steps:
a. If you wish to remove all unmatched operations/locations form the target operation, click

Note
A seam operation is only removed if all its seam locations are not matched.

b. If you wish to add a source location to the target operation, select the source location and a
target location and do one of the following:

• Click to add the source location before the target location.

• Click to add the source location after the target location.

Note
You cannot add locations to a seam operation if the seam operation was projected in a
version of Process Simulate prior to version 11.

The location is inserted in the target operation.

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 Note
The added location is shown in gray as it is not part of the target operation until after
performing Execute.

c. If you wish to emphasize matched pairs in the Graphic Viewer, click Emphasize Selected
Matched Pairs and select matched target pairs in the left pane.

For the selected matched locations, the target is emphasized in blue and the source in red in the
Graphic Viewer. Selected non-matched locations remain green in the Graphic Viewer.

Note
If you select multiple matched pairs, all the targets are emphasized in blue and all the sources
in red in the Graphic Viewer.

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 d. You can change the order of operations or locations in the target operation. Select the location
you wish to move and do one of the following:

• Click to move the selected operation/location up the Target Operation tree.

• Click to move the selected operation/location down the Target Operation tree.

Note
You can only move seam operations if all the locations of the seam operation are selected.

e. If you wish to reverse a selected operation, click . For weld and seam operations, this
reverses the order of all the locations in the operation. For continuous operations this reverses
the order of the seam operations and via locations, and also reverses the order of the seam
locations within each seam operation.

Note
• This command works similarly to Reverse Operation.
• The motion type is unaffected by Reverse.

f. If you wish to reorder the target pairs according to the order of the items in the Match column,

click . Unmatched pairs are listed last.

g. The reorder command sorts the target weld operation locations according to the order of the
locations in the Match column. If there is no matching location in the target weld operation
for a specific location in the source operation, the reorder command inserts an empty slot in

the target operation. You can select a source location and click to insert the selected
location in the empty slot.

h. If you wish to remove operations/locations from the target operation, select the operations/
locations and click .

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 i. Check or clear Merge for each matched pair or do one of the following:

• Click to check Merge for all the matched pairs.

• Click to clear Merge for all the matched pairs.

For matched pairs whose Merge cell is checked, the system copies the attributes and
coordinates of the source location to the target location after performing Execute. For
matched pairs with cleared Merge, the system does nothing.

Note
For information on configuring which source attributes the system merges, refer to
Configure Robotic Operation Merge settings.

j. If you are not satisfied with the merge you have configured, click Reset. The Robotic Operation
Merge dialog box discards all the changes you made since launching the dialog box (or clicking
Execute) and enables you to restart your merge configuration.
11. Click Preview if you wish to see an excel table displaying the state before and after the merge, before
actually implementing the merge.
12. Click Execute. The system performs the merge and the Robotic Operation Merge dialog box reloads
the target operation.

Note
• Be aware that deleting a weld location operation may delete the associated weld points.
• A weld point must be assigned to at least one weld location operation. Therefore Delete is disabled
for a weld location operation if it is the only operation associated with a Weld Point.

Configure Robotic Operation Merge settings

The Robotic Operation Merge Settings dialog box contains the Automatic Matching Criteria and Merge
Actions sections. Use the Match criteria section to indicate by which criteria the Automatic Match works to
match locations. You can set automatic matching either by source and target locations that share the same
Name, or by matching locations in close proximity (Distance). The Merge overwrite table enables you to
select which information is copied from source locations or operations to their matched target locations
or operations, by checking or clearing the various information types. For seam and weld locations, there
are two schemas, Default and Alternative. You can select which is to be used for each matching pair in the
relevant cell of the Merge Schema column of the Robotic Operation Merge dialog box. For via locations
and the operation itself there is one schema each.

• In the Robotic Operation Merge dialog box, click .

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 The Settings dialog box appears.

The following table describes the options you can configure for the Robotic Operation Merge from the
Settings dialog box:

Name Description
Automatic Enables you to set the method for matching pairs when performing automatic merge.
Matching The following methods are available:
Criteria
• Name - Matches target items to source items of the same name.
• Distance - Matches target locations to source locations within the Maximum match
distance you configure. If there is more than one match, the system uses the nearest
location.

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 Robotic Operation Merge log file

If you check Perpendicular direction, the system also takes into account the
Maximum deviation angle you set, enabling you to match between the original
projection matrices of the compared locations.
On merge Enables you to configure which source data is copied to the target. You can configure
Actions, four different sets (schemas), two for seam and weld locations, one for via locations, and
overwrite one for operations. The following data can be copied:
the following
• Position
• Orientation and Keep only perpendicular/normal
• External axes
• Taught position
• Taught orientation
• Robot configuration
• Robotic parameters - information set on the locations. You can see this in the Path
Editor.
• OLP commands
• Attributes (not eMS fields) - information the user can store on locations by using
the .NET API txAttribute (not relevant for most users).
• Name
Log Check Show log automatically to display the merge log after executing the merge. If
you clear this option, the system prompts you to view the merge log after executing the
merge.

Robotic Operation Merge log file

The Robotic Operation Merge command generates a log file detailing the merged operation and each
merged operation/location with its data and attributes before and after the merge procedure. The log file
rows are marked in different colors as follows:

• Green—fully matching merge.

• Purple and Blue—match succeeded, but with discrepancies. Purple rows indicate the pre-merge state,
while Blue rows indicate the merge results.
• Red—discrepancies.
• Orange—deleted locations, or deleted selected weld points.

The following are examples of the Robotic Operation Merge Log File:

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Safety robots

Note
• The log file only includes the columns selected in the Robotic Operation Merge Settings dialog box.
• For information on accessing the Robotic Operation Merge log file, refer to Robotic Operation Merge
settings.

Safety robots
Safety Robots is an extension for Tecnomatix Process Simulate, which can model robot safety zones and
safety features.

Start the Command

You can start the Program by clicking Safety Robots Manager in Process Simulate. If the icon is not
available, you can add it yourself in the Customize dialog box.

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 General

The Safety Robots Manager is supplied as an add-on for Process Simulate versions 15.1, 16.0 and 16.0.1.
To install it, simply download and install the latest HotFix for Process Simulate from the Siemens Support
Center.

Menu

You can find the following commands on the Menu tab:

• Safety Robots Manager

• Safety Robots Options
• Safety Robots Documentation

General

• Oracle 19c Client is supported in this version. See further installation instructions in the Administrator
Guide help.

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Safety robots documentation

• CAD Translator certification - PTC Creo Parametric 3.0 (datacode M020 and higher), Creo Parametric 4.0,
Creo Parametric 5.0, and Creo Parametric 6.0 are supported in this version.
• Starting this version, to use Process Simulate Virtual Reality, make sure that SteamVR software is v11.1
or higher.

Safety robots documentation

Safety Robots Documentation is available for all robot types. Using it creates an excel-document of the
robot with all active safety objects under the export node. You must create pictures with the Safety Robots
Documentation function.

To begin, choose an object from the tree. The right side of the window displays the images you can create.
A gray row indicates that a picture has not been created yet.

First, select the row and rotate the Graphic Viewer to the perspective you need. To generate the image,
click Create Image. The Graphic Viewer is resized to the correctly, and the system remembers all visible
objects and the camera position. It also places the image in the RobotMachineFiles folder, which is
inserted in the documentation.

To restore the image view, use Load View Delete deletes the image.

When you activate the Resize Graphic Viewer Window option, the Graphic Viewer resizes automatically
when you select an image.

Click the icon to create the Safety Robots documentation.

To create new documentation from Safety Robots Manager, select a robot. Its properties are shown on the
right side of the screen.

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 Safety robots documentation

You can start the documentation process by clicking the icon. This creates an excel file with all
parameters of the robot, the tools and zones.

The following example of Safety Robots documentation is based on an ABB robot:

Tool

Upper Arm

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Safety robots documentation

Tool Zone

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 Import / Export

Import / Export

Use this dialog to import ( ), or export ( ) settings. You can also accomplish this by right-clicking
the tree. You can use these exports in the robot manufacturer's tools.

You can export the machine data files for all robots by right-clicking a blank line, or any robot.

Export Settings

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Import / Export

When exporting, a message displays, asking you if want to export an initial file export, or update file
export. The initial export contains all possible elements; and unused ones are initialized with zero values.
This export is used the first time an import is implemented on a robot. The update export contains only
used elements.

Note
Warning

In order to prevent the MotoSim existing data from being overwritten, use the Update file option when
exporting multiple robots.

The export folder contains the following files, depending on the exported safety objects:

File Description
AXRNGLMT.DAT Axis Range Limits
AXSPDMON.DAT Axis Speed Monitors
RBRNGLMT.DAT Robot Range Limits
SPDLMT.DAT Speed Limits
TLANGMON.DAT Tool Angle Monitors
TOOLINTF.DAT Tools

Import Settings

You cannot change imported settings directly. Instead, drag and drop them onto the tree's Export node
and modify them from there. You can only drag and drop of objects if the robot type and safety version are
equal. Pressing the <ctrl> key while dragging the object, does not move it, but copies it.

If you chose not to create prototypes during import, you can create them later. To do so, right-click an item
(such as a tool), or an item group (such as Tools) and select Create.

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 Fixed stops

Fixed stops

Fixed stops are available for every robot type and you can define them for axes 1 – 3. You can set the
stopping distance separately at the upper and lower limits that are influenced by the soft limits of the
robot axes. A stopping distance area ranges into the unsafe area that begins after the upper resp. before
the lower limit angle. As with KUKA Axisspaces or FANUC JPCs, you can change the diameter of pie chart
components that are drawn in Process Simulate with the Pie Chart Radius setting. You can use Pie Chart
Elevation to shift them along the rotation axis.

Click the icon (only active in edit mode) to take over the soft limits. Use the icon to set the current
values as soft limits.

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Adjustment reference position

Adjustment reference position

The adjustment reference position is only displayed in the tree if it was created. To create
an adjustment reference position, right-click on the robot and select Adjustment Reference

Position:

All TCPs found for the selected robot are made available for selection in a drop-down menu. You can also
pick your own frame or set it using the numeric boxes.

The values of the axes are shown for the selected pose. If the robot is on an external axis, this axis must
have a pose with the same name. The value of the carriage is also displayed. A separate sheet for the
adjustment reference position is created in the documentation.

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 Robot types

Robot types

If you set a controller in the robot properties, the robot type is identified automatically. Otherwise "(?)" is
displayed and you have to set the type manually. Then you can set the robot's parameters, which differ
from manufacturer to manufacturer.

The form displayed above (ABB SafeMove in example above) allows you to import ( ), or export ( ) the
settings. You can also import and export by right-clicking the robot in the tree. Click to open the associated
RobotsMachineDataFiles folder, which contains the SafetyRobot.xml file, with all information about the
robot. This file is the primary file and overwrites changes made in Process Simulate outside of the Safety
Robots Manager. You can create the robot documentation by clicking the icon. This creates an excel file
with the parameters for all the robots, tools and zones. If you selected an incorrect robot type, right-click
the robot in the tree for options to change it. This will cause all settings and objects for this robot to be
lost! To show the robot with all safety objects, select Display from the robot's context menu; and select
Blank to hide all safety objects.

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Detect robot safety breach automatically

Detect robot safety breach automatically

When running a simulation after configuring safety features in the Safety Robots Manager, you can run
Robot tab → Safety group → Activate Breach Simulation. When a safety breach occurs, the simulation
slows or terminates, according to the action configured in the breach attributes. In the following example,
the robot tool has entered a forbidden space, Robot simulation was paused, and the breach results are
displayed in red.

Note
This command works in both Standard and Line Simulation modes.

Procedure

1. From the Safety Robots Manager dialog box, you can select a robot's workspace or cell space to
check its breach settings.

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 2. Click Breach to open the Breach Settings dialog box.

Note
The Breach Settings dialog box displays all settings affecting the breach simulation. If controller
settings already exist in the zone definition, the Breach Settings dialog box displays them as
inactive. Examples:
• Breach Type in the image below. If the controller settings are not set in the zone definition, the
Breach Type settings are active in the dialog box and you should set them to support correct
breach simulation.
• The Active check box in the image below. If the zone was not already designated for breach
simulation, you can click it to indicate that this particular zone should be considered for breach
simulation.

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 • The Breach Type of the selected work area displays:
◦ Breach Out to indicate that the robot must stay inside the zone. Touching the zone perimeter or
exiting the zone triggers a breach indication.
◦ Breach In to indicate that the robot must stay outside the zone. Touching the zone perimeter or
entering the zone triggers a breach indication.

3. Click to activate one or more tools in the Safety Objects field.

4. Select a Safety Type to indicate the reaction to a breach occurrence in the simulation. For example,
you can select Emergency Stop or Reduced Speed.

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 Detect robot safety breach using a sensor

Note
For Reduced Speed, you can set the reduced speed percentage.

5. Click OK. You can check the breach results when you run the simulation.

Detect robot safety breach using a sensor

You can emulate some robot reactions to breach of safety settings, namely, speed reduction and program
pause.

Procedure

1. From the Safety Robots Manager, set the safety settings for all robots and equipment in the cell.

Note
Alternatively, you can import safety settings from the controller.

2. For each zone at which the robot should slow down or stop, create a proximity sensor.
3. Select the graphic representation of the fixed zone, and for interference objects, select the shapes
mounted to the robot components.

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 Note
• Keep the Normally False Signal selected.
• Keep the Detection Range small: 0.1 is recommended (0 is not a valid value).

If you run the operation in line simulation, the breaching objects are highlighted in red.

4. Create additional proximity sensors for other breach zones as needed.

5. Open the Robot Signals viewer for the appropriate robot and add a new Output Signal with the
Reducing Speed or Program Pause Signal Function.

6. Add an SCL block for the robot, which connects the robot's signals to the proximity sensor signals.
The following is an example of SCL code that you can copy and paste, while adjusting the names,
speed, and logic to fit your case.

FUNCTION_BLOCK "MAIN"
VAR CONSTANT
Reduced_percent {ID := 'ea5e3ee8-0331-401a-a299-3ae64ea1351b'} :
INT := 30;
END_VAR

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 VAR_INPUT
Table_Zone {ID := '8e9d1bfd-d83f-4c84-84f7-07096875ff99'} : BOOL;
Lift_zone {ID := 'ae44c962-cedf-4986-ae43-4721d31807fb'} : BOOL;
END_VAR
VAR_OUTPUT
ST010R001_Reduced_Speed {ID :=
'2f491d05-68c2-4cf3-9910-24853acc16bb'} : BYTE;
ST010R001_programPause {ID := '6456e278-7f89-44db-
bcf0-5f2defa37ac0'} : BOOL;
END_VAR
BEGIN
//
========================================================================
=====
// SIEMENS DISW
//----------------------------------------------------------------------
-------
// Restrictions: Limited to: eMS (not TC), using RRS (not MOP), Line
Sim (not standard)
// Description: Emulate Robot behavior when Safety is breached. Using
proximity and light
// sensors the Robot signals Reduced_Speed / programpause
are trigered,
// and RRS simulation will reduced the robot speed or
pause it.
// Target device prerequisites:
// - Create
// - Gate movement is simulated by a single driving joint
//----------------------------------------------------------------------
-------
// Change log table:
// Version Date Changes applied
// 1.0 06.21.2021 First released version
//
========================================================================
=====

//------------------------------------------------------------------
-----------
// INIT ROUTINE
//------------------------------------------------------------------
-----------
#ST010R001_Reduced_Speed := 100;
#ST010R001_programPause := 0;

//------------------------------------------------------------------
-----------
// START PROGRAM
//------------------------------------------------------------------
-----------
if (#Table_Zone) then
#ST010R001_Reduced_Speed := #Reduced_percent;
end_if;
if (#Lift_zone) then
#ST010R001_programPause := 1;
end_if;

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 // END PROGRAM
END_FUNCTION_BLOCK

When the safety object attached to the robot nears or breaches the safety space, the robot slows down or
stops, as designated. The safety bodies are colored red for visual emphasis.

• Open the Simulation Panel and make sure you have the following signals:

• Play the simulation (in line mode). When the table zone is breached:

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 ABB

ABB

ABB SafeMove

• Motion Task identifies the controller's robot to which this configuration belongs.
• Use Coordinates of the Baseframe instructs the system to use the Base instead of the World coordinate
system. The base coordinate system can be set below.
• Start Speed Offset configures the offset of the Safe Break Ramp function. Default: 100 mm/s.
• Elbow Offset specifies the offset of the robot's elbow relative to the center of robot axis 3. The X value is
always a negative value. If you add the elbow offset geometry, the value is copied to the geometry. The
elbow offset geometry is automatically open in modeling mode.
• Stop Modus defines how to break: STOP0 or STOP1. If you deactivate Allow override, the safety values
cannot be overridden using the robot's teach pendant.

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ABB SafeMove

• Documentation Version is the version of the robot's safety documentation (excel). This value is
exported to excel as well as to the robot's export (as a comment).

Tools

Right-click Tools in the tree to add a new tool to the robot. ABB SafeMove alllows you to add a maximum
of four tools. Only one tool at a time can have the same tool number. Deactivated tools may have the
same tool number as activated tools, but they require a new number when they are activated. A yellow
frame marks the current TCPF in the Graphic Viewer. The tool name is the same as the TCPF name. If you
change the coordinates, the name in the tree is set to "(x)", where x is the tool number, because the new
TCPF no longer matches the named TCPF. You can enter the coordinates directly, selected from the drop
down box, or click the Frames icon to create a new frame. The drop down box lists all system frames that
belong to the robot, ending with the "_tf" suffix. These frames are created using the robot controller Base
Data → Tool Data. You can create up to eight points, displayed as small spheres and you can monitor their
velocity and position in a zone. Reference Orientation changes the coordinate system in which the points
are moved. Use Sphere Radius lets you configure the radius for this tool only. Use the Active check box to
activate or deactivate the tool. Only active tools are exported.

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 ABB SafeMove

Safe Tool Zone

• Max Tool Speed (mm/s) is the tool's maximum allowed velocity inside the zone - Range: 0.5 – 15000
mm/s.
• Allow Inside has to be activated if the tool may only operate inside the zone. Otherwise the tool is only
allowed outside of the zone.
• Include Elbow includes the robot's elbow in the checks.
• Height Top, Bottom (mm) are the Z-Coordinates of the upper and lower points.
• Vertices X, Y (mm) are the X/Y coordinates of the points defining the Zone. You can define 2‑8 vertices.
Usually the zone is shown as a solid. For simulations you can activate the option.
• Zone Geometry as Surfaces.
• Use Sphere Radius will add (STZ) or subtract (MTZ) the radius when exporting, so that the robot will
stop in time. You can preview the changes with Show export zone.

You can right click a zone and choose Expand / Contract from the context menu to quickly change the tool
zone's size.

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ABB SafeMove

Monitor Tool Zone

In addition to the Safe Tool Zone, the Monitor Tool Zone also has a minimum tool speed (Min Tool Speed
(mm/s)).

Elbow Offset

Optional: you can add an elbow offset geometry (sphere). The X, Y and Z values are also on the robot
page.

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 ABB SafeMove pro

ABB SafeMove pro

Introduction ABB SafeMove Pro

• Robot Name is the name of the robot.

• Motion Task identifies the controller's robot this configuration belongs to.
• Start Speed Offset configures the offset of the Safe Brake Ramp Function. Default: 100 mm/s
• Elbow Offset specifies the offset of the robot's elbow relative to the center of robot axis 3. The X value is
always a negative number.
• Documentation Version is the version of the robot's safety documentation (excel). This value is
exported to excel as well as to the robot's export (as a comment).

Import

The XML to be imported may contain robot data of all robots that are connected to the robot controller. In
this case, Safety Robots asks you to select the robot you want to import.

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Tools

Tools

ABB SafeMove Pro is capable of using up to 16 tools, which have a Name and a Description.

Only one tool can have the same Tool Number at a time. Deactivated tools may have the same tool
number as activated tools, but you need to assign a new number when they are also activated.

If no Activation Signal is entered, the tool is permanently active. If a tool is permanently active, no other
tool can be defined.

You can enter coordinates directly, that you select from the drop down box, or create a new frame using
the Frames button.

The drop down box lists all system frames that belong to the robot and end with "_tf". These frames are
created using the robot controller's Base Data → Tool Data.

The Active check box activates or deactivates the tool. Only active tools are exported. You can create three
shapes:

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 Tools

• The Sphere is defined by a diameter (≥50mm) and center point.

• The Capsule is defined by a diameter (≥50mm), length (≥50mm), as well as a start and an end point.
• The Lozenge is defined by a diameter (≥50mm), height (≥50mm) and width (≥50mm), as well as a
position and orientation.

A shape is created by right clicking the tool and choosing the geometry type from the context menu.

To change values, the geometry has to be loaded into modelling first, which can be achieved by clicking
the "Edit" button. To apply changed values, click "End Edit", to undo changes and leave modelling click
"Cancel Edit".

You can use any of the following methods to position a shape:

• In the Graphic Viewer, use the coordinate system.

• Use the buttons of the corresponding numeric box.
• Direct entry of values.

You can change the size as follows:

• In the Graphic Viewer, use the yellow lines, as for the capsule illustrated below. Here, the lines are
crosswise at the middle (radius) and one on each end (radius and length).
• Use the buttons of the corresponding numeric box.
• Direct entry of values.

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Zone

You can create a maximum of four shapes per tool, with up to eight points for every tool, which are
considered when monitoring the speed inside of a zone. Right-click the tool, select New speed supervised
points and add the required points.

Zone

Right-click the "Zones" element to create a new zone and select New Zone.

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 Zone

A zone has a Zone Number (with a range from 1 to 16), Name, and a Description. Each number can
be active only once. There are three different Speed Priorities (limits) for a zone: BASE, NORMAL or
OVERRIDE. Normally, a zone is shown as a solid. For simulation you can activate the Zone Geometry as
Surfaces option. A zone is defined by upper and lower vertices (in relation to the Task_frame), as well
as by 4 to 24 points in X/Y. The Graphic Viewer displays the points as spheres which are labeled with
a note (see the illustration above). You can position the note freely. You can use the option to display

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Zone

a connecting line from the vertex to the note. You can change the position of the point by entering
coordinates, by dragging and dropping it in the Graphic Viewer, or by relocating in X/Y to a frame. You
must follow these rules:

• The side length of an edge must be at least 200mm.

• The minimum distance between two edges is 100mm.
• Edges may not cross each other.
• The angle must be between 30 and 330 degree.

A violation of any of the rules listed above displays the following warning:

Right-click the zone element in the tree to select Expand / Contract from the menu. A dialog box opens
and you can enter a positive or negative value to respectively increase or decrease the size of the zone.

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 Zone

The new zone displays as a yellow line:

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Upper arm geometry

Upper arm geometry

Right-click Export and select New Upper Arm Geometry - a new Upper Arm node node displays in the
tree. Right-click the node to select a new geometry type. You can create a maximum of two shapes.

Tool supervision

You can create two Tool Position Supervision (TPO) nodes per zone. You can make the following settings:

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 Tool supervision

• Name
• Include Upper Arm geometry
• Allow Inside

Tool Speed Supervision

You can create one Tool Speed Supervision (TSP) node per zone, as well as eight in the global scope. You
can make the following settings:

• Name
• Minimum TCP speed
• Maximum speed of TCP, Elbow and Speed Supervised Points

Axis Speed Supervision

You can create one Axis Speed Supervision (ASP) node per zone and a total of eight ASP nodes (including
zones and global scope). You can make the following settings:

• Name
• Minimum and maximum speed per axis

Tool Orientation Supervision

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Tool supervision

You can create one Tool Orientation Supervision (TOR) node per zone and a total of eight TOR nodes
(including zones and global scope). You can make the following settings:

• Name
• X-Vector X, Y, Z and Tolerance (1-179.999 degree)
• Z-Vector X, Y, Z und Tolerance (1-179.999 degree)

Contact Application Tolerance

You can create one Contact Application Tolerance (CAP) node per zone. You can make the following
settings:

• Name
• Tolerance per axis in degree

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 ABB Manufacturer specific limits

Standstill Supervision

You can create up to eight global Standstill Supervision (SST) nodes.

The following settings can be made:

• Name
• Usage per axis
• Tolerance per axis in degree

ABB Manufacturer specific limits

SafeMove

Description Quantity
Upper Arm Geometry -
Tools 0-4 per robot
Tool Spheres 0-8 per tool
Safe Tool Zone 0-8 per robot
Points 3-8 per zone
Monitor Tool Zone 0-8 per robot
Points 3-8 per zone

SafeMove Pro

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KUKA

Description Quantity
Upper Arm Geometry 0-2 per robot
Elbow Offset 0-1 per robot
Tools 0-16 per robot
Tool Geometry 0-4 per tool
Speed Supervision 0-8 per tool
Safe Zone 0-16 per robot
Points 4-24 per Safe Zone
Tool Position Supervision 2 per zone
Tool Speed Supervision 1 per zone / 8 global
Axis Speed Supervision 1 per zone / 8 total
Tool Orientation Supervision 1 per zone / 8 total
Contact Application Tolerance 1 per zone
Standstill Supervision 8 global

KUKA

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 KUKA SafeOperation

KUKA SafeOperation

Overview

Overview SafeOperation 3.1

KUKA SafeOperation 3.2 / 3.4

KUKA Manufacturer Specific Limits

KUKA SafeOperation 2.1 / 2.2

Overview

• Safe Robot Disabled disables the safety features for this robot.

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Tools

• Cartesian Velocity is the threshold value of global velocity. Possible values are between 5 and 10000
mm/s, Default: 10000mm/s.
• Reduced Cartesian Velocity is the safe reduced velocity that can be activated in the range of 5 to
10000 mm/s, Default: 10000mm/s.
• Reduced Cartesian Velocity T1 is the velocity in the manual T1 mode. Possible values are between 5
and 250 mm/s, Default: 250 mm/s.
• Reference Position defines the position the robot uses to verify its axis values.
• Documentation Version is the version of the robot's safety documentation (excel). This value is
exported to excel as well as to the robot's export (as a comment).
• External Axis adds a virtual axis. If the real robot has two external axes, one coupled to the other, the
exported file will have two axes, but Process Simulate displays only one. You need to define a virtual axis
at the position where it exists in the file in order to import the robot's export successfully into Safety
Robots.

Tools

Right-click Tools in the tree to add a new tool to the robot. You can add up to three tools, and you can
name each tool. You can assign the same tool number to only one tool at a time. Deactivated tools may
have the same tool number as active tools, but you need to assign a new unique tool number to any tool
you re-activate. The current TCP is represented by a yellow frame in the Graphic Viewer. You can enter
the coordinates directly by selecting them from the drop down box, or create a new frame by clicking the
Frame icon. The drop down box contains all frames that belong to the robot and end with "_x", where x is a
number. These frames are created using the robot controller. The Active checkbox determines whether the
tool is active or not. Only active tools are exported. You can only create one geometry type, the sphere:

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 Tools

Rigth-click a tool to create a new sphere and select New Sphere from the context menu. To change the
sphere's diameter and position, first load it in Modeling mode (click Edit). Click End Edit to modify the
values, or click Cancel Edit to undo changes.

You can move the sphere in three different ways:

• In the Graphic Viewer with the coordinate system

• Using the corresponding numeric box's buttons
• Manual entry of values

You can change the size in any of the following ways:

• Use the yellow lines display in the Graphic Viewer. As the example of the capsule below illustrates, the
lines are crosswise in the middle and one at each end.

• Use the buttons of the corresponding numeric box.

• Manually enter the values.

You must create two spheres per tool.

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Cell Space

Cell Space

You can define up to eight zones - one for cell space, and seven workspaces. The first is cell space which
defines the robot's working area. Only one cell space can be active at the same time. The xml file does not
contain a definition of ZMax and ZMin. You can enter values for them to create a useful geometry. The
point of reference is always the $ROBROOT frame.

A zone should have three to six vertices, which define a convex polygon. The images below illustrate a
convex polygon on the left, and non-convex polygon on the right:

Use the Cell Space Geometry as Surfaces option to draw the geometry as surfaces instead of solids.
Make sure this setting is activated to perform collision checks. Activating the Create Floor and Roof option
also adds top and bottom surfaces.

The following message displays if you add points to the cell space outside of Safety Robots.

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 Cell Space

It is possible that these points represent a valid, but unsupported, geometry, because the points are not in
the correct order. In the following illustration point 6 should be point 2:

You can reorder the points to allow Safety Robots to import the cell space with the points in the corrected
order.

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Workspaces

Workspaces

You can define up to seven workspaces simultaneously (the image above illustrates a Cartesian
workspace). Each workspace must have a unique Number.

Enter a Name that using a maximum of 24 characters.

Use the Range Type to determine whether the workspace is Cartesian, or an axis-specific protected area.

Set the Type to determine whether it is a working space, meaning. a space that the robot may not leave, or
a safe zone, which is an area that the robot may not enter.

Use Interface No. In to decide when the safe zone is monitored: Always, Never or Controlled by the
specified input.

Assign to Interface No. Out either: No Output or Output 0-2.

Vmax is the limit of the Cartesian velocity. Valid range is 5…10000 mm/s.

Vmax valid if determines when the velocity defined by Vmax is monitored.

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 Workspaces

• Not used: no monitoring of velocity

• Space violated: if the robot is inside the workspace
• Space not violated: if the robot is not inside the workspace

Use Stop at workspace violation to stop the robot before it reaches the workspace border.

Monitoring Stop is a reference adjustment that checks if the current position of the robot and additional
axes match a reference position. Enabling this option causes the robot to stop when it needs to check the
reference again.

Cartesian Workspace

Origin Position is the workspace translation. Min Point defines the lower corner and Max Point defines
the upper corner.

Use Workspace Geometry as Surfaces to switch to a surface model to allow collision checking.

Only the Kuka SafeOperation 2.2:Reference Frame specifies which coordinate system is the point of
reference for the following points: World or Robot coordinate systems.

For robots with a seventh axis, the world coordinate system is located at the external axis. In this case the
workspace does not move with the robot.

Origin Position sets the workspace origin, in reference to $ROBROOT or $WORLD.

The Origin and Min point are equal option moves the Origin frame and the Min frame one on top of the
other. You can choose whether to move the Origin frame on top of the Min frame, or vice versa. You can
choose whether moving Origin onto Min changes the geometry, or does not change the geometry.

Initial workcell situation:

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Workspaces

Origin on top of Min / Min on top of Origin:

Use Min Point / Max Point to define the rectangular workspace.

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 Workspaces

Axis specific working space

Click the Active check box to have the axis-specific working space define the free moving space of each
axis, which can be activated and restricted separately.

The axisspace must be in Edit mode if you want to change values for Lower bound and Upper bound.

The yellow light bulb icon indicates that the slice for this axis is displayed. If the bulb is gray, the slice is
hidden.

It is recommended to set the robot's Object Viewing to Transparent, to make the slices more easily visible.

Inactive axes, or regions that are unreachable by the robot are displayed in gray. Areas of the slice colored
in green indicates that area is allowed for access. Areas colored in red indicates that area is forbidden.

The outer slice displays positive values. The inner slice displays negative values.

The white pointer marks the zero position. The blue pointer indicates the current position.

You can configure the size of the pie chart (change it from the default size) in the Options.

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Workspaces

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 KUKA SafeOperation 3 1

KUKA SafeOperation 3 1

Overview SafeOperation 3.1

Use Mastering Test Input to define the source of demand for a reference adjustment:

• Cabinet - attached to control box

• PROFIsafe - attached to PROFIsafe
• CIP Safety - attached by Ethernet connection

Use Cartesian Velocity to limit the global velocity. Range of values: 0.5 to 10000 mm/s. Default: 10000
mm/s.

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Cellspace

Use Reduced Cartesian Velocity to set the safely reduced speed. Range of values: 0.5 to 30000 mm/s.
Default: 30000 mm/s.

Use Reduced Cartesian Velocity T1 to set the speed during manual T1 operations. Range of values: 0.5 to
250 mm/s. Default: 250 mm/s.

Use Max. Velocity rotary Axis to set the maximum speed of a rotary Axis. Range of values: 0.5 to 5000 °/s.
Default: 1000 °/s.

Use Max. Velocity linear Axis to set the maximum speed of a linear Axis. Range of values: 0.5 to 30000
mm/s. Default: 5000 mm/s.

Use Reference Position to define the position where the robot can check the values of its axes.

Documentation Version is the version of the robot's safety documentation (excel). This value is exported
to excel as well as to the robot's export (as a comment).

Use External Axis to add a virtual axis. If the real robot has two external axes, one coupled to the other,
the exported file has two axes, but Process Simulate displays only one. It is necessary to define a virtual axis
at its position in the file in order to import the robot's export successfully into Safety Robots.

Tools

While SafeOperation 2.1 allows you to manage up to three tools, version 3.2 allows you to manage up to
16 tools, each with up to six spheres (in version 2.1 up to two spheres).

Cellspace

Cellspace 3.2 references $WORLD while Cellspace 2.1 references $ROBROOT. $WORLD refers to the
study's "bf0"-Frame. If this frame does not exist, the cellspace refers to the robot's self-origin.

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 Cellspace

A zone should have three to ten vertices, which define a convex polygon. The images below illustrate a
convex polygon on the left, and non-convex polygon on the right:

Use the Cell Space Geometry as Surfaces option to draw the geometry as surfaces instead of solids.
Make sure this setting is activated to perform collision checks. Activating the Create Floor and Roof option
also adds top and bottom surfaces.

The following message displays if you add points to the cell space outside of Safety Robots.

It is possible that these points represent a valid, but unsupported, geometry, because the points are not in
the correct order. In the following illustration point 6 should be point 2:

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Workspace

You can reorder the points to allow Safety Robots to import the cell space with the points in the corrected
order.

Workspace

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 Workspace

You can define up to 16 workspaces simultaneously (the image above illustrates a Cartesian workspace).
Each workspace must have a unique Number.

Enter a Name that using a maximum of 24 characters.

Use the Range Type to determine whether the workspace is Cartesian, or an axis-specific protected area.

Set the Type to determine whether it is a working space, meaning. a space that the robot may not leave, or
a safe zone, which is an area that the robot may not enter.

Use Activation to determine when the safe zone is monitored: Always, Never or By user requirement.

Vmax is the limit of the Cartesian velocity. Valid range is 5…10000 mm/s.

Vmax valid if determines when the velocity defined by Vmax is monitored.

• Not used: no monitoring of velocity

• Space violated: if the robot is inside the workspace
• Space not violated: if the robot is not inside the workspace

Use Stop at workspace violation to stop the robot before it reaches the workspace border.

Monitoring Stop is a reference adjustment that checks if the current position of the robot and additional
axes match a reference position. Enabling this option causes the robot to stop when it needs to check the
reference again.

Cartesian Workspace

Reference Frame specifies which coordinate system is the point of reference for the following points: The
World or Robot coordinate system.

For robots with a seventh axis, the world coordinate system is located at the external axis. In this case the
workspace does not move with the robot.

Origin Position/Orientation sets the workspace's origin, in reference to $ROBROOT. For A, B, C the
following applies:

• A - Rotation around Z-Axis

• B - Rotation around Y-Axis
• C - Rotation around X-Axis

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Workspace

The Origin and Min point are equal option moves the Origin frame and the Min frame one on top of the
other. You can choose whether to move the Origin frame on top of the Min frame, or vice versa. You can
choose whether moving Origin onto Min changes the geometry, or does not change the geometry.

Initial workcell situation:

Origin on top of Min / Min on top of Origin:

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 Workspace

Use Min Point / Max Point to define the rectangular workspace.

Axis specific working space

Click the Active check box to have the axis-specific working space define the free moving space of each
axis, which can be activated and restricted separately.

The axisspace must be in Edit mode if you want to change values for Lower bound and Upper bound.

The yellow light bulb icon indicates that the slice for this axis is displayed. If the bulb is gray, the slice is
hidden.

It is recommended to set the robot's Object Viewing to Transparent, to make the slices more easily visible.

Inactive axes, or regions that are unreachable by the robot are displayed in gray. Areas of the slice colored
in green indicates that area is allowed for access. Areas colored in red indicates that area is forbidden.

The outer slice displays positive values. The inner slice displays negative values.

The white pointer marks the zero position. The blue pointer indicates the current position.

You can configure the size of the pie chart (change it from the default size) in the Options.

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KUKA SafeOperation 3.2 / 3.4

KUKA SafeOperation 3.2 / 3.4

KUKA SafeOperation 3.2

Cellspace

The min/max value of the coordinate’s origin and corners has been increased from 30000 to 100000.

Workspace

The min/max value of the coordinate’s corners has been increased from 30000 to 100000.

KUKA SafeOperation 3.4

Tools

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 KUKA Manufacturer Specific Limits

The number of spheres for a tool has been changed to 12.

KUKA Manufacturer Specific Limits

SafeOperation 2.1 / 2.2

Description Quantity
Tools 0-3
Spheres 2
Cellspace 0-1
Vertices 3-6
Workspace 0-7
Points 2
Axis specific working space Max. 8 Axes

SafeOperation 3.1 / 3.2

Description Quantity
Tools 0-16
Spheres 0-6
Cellspace 0-6
Vertices 3-10
Workspace 0-16
Points 2
Axis specific working space Max. 8 Axes

SafeOperation 3.4

Description Quantity
Tools 0-16
Spheres 0-12 (max. 96 per robot)
Cellspace 0-1
Vertices 3-10
Workspace 0-16

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FANUC

Description Quantity
Points 2
Axis specific working space Max. 8 Axes

FANUC

Dual check safety 3.5.3

Overview

Set the correct version for Safe Version. Currently Dual Check Safety 3.5.3 and 3.6.1 are supported.

Motion Group is the group the robot belongs to. There are groups 1-8. All safety objects pertaining to the
robot belong to this Motion Group. When importing, only those Safety Objects that belong to the selected
Motion Group.are imported.

XVR Syntax Version determines the syntax to use to export the XVR file. You can select between the older
version (before V8.36 P06) and the newer version.

Use Process Time Factor to set a value for the complexity of calculations, no greater than 1000. See
FANUC Manufacturer Specific Limits.

Safety Function is the method for the DCS and the value in the brackets is added to the Process Time
Factor.

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 Robot system files

You can activate or deactivate Monitoring of the manual mode under T1 Mode Speed Check. You can also
specify a maximum velocity of up to 250 mm/s.

To activate Tool Select set it to "-1: Tool Change".Set a CPC's User Model to "-2: Tool Model", to activate the
Tool Select function. This causes the User Model with the largest Process Time Factor to display the factor.

Documentation Version is the version of the robot's safety documentation (excel). This value is exported
to excel and to the robot's export (as a comment).

Robot system files

The Safety Robots Manager has two functions to help you make use of two robot system files. The first
allows you to attach geometries to one of the robot's links. Every link has a frame of reference which is not
stored in the robot model (JT). These frames are defined in the "DCSPOS.VA" system file.

The second function automatically covers the robot with appropriate shapes. These shapes can be found in
the "SYSVARS.VA" system file. See DCS for instructions.

You can create and export both files with the help of FANUC's Software ROBOGUIDE. After that, you need
to copy both files into the folder of the prototype or the robot machine data folder. If those files cannot be
found, the following error message displays:

DCS

DCS Tool Frames

DCS tool frames are not the robot tool frames used to approach working points. DCS tool frames are used
to position the User Model's geometries.

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DCS

To define a DCS Tool Frame, choose a Number (1-10). The number is already in use if "(defined)" appears
next to it.

You can put in a Comment.

UTool Number is a frame number between 0 and 999. The numbers 1-10 are reserved for the robot's User
Tools, whose coordinates are carried over and cannot be changed. For undefined User Tools, 0 is assumed
for all values.

Model Number determines the User Model, which should be used as Tool Model.

Use Verify I/O to determine Safe I/O.

Tool Frame defines the coordinates.

Assigned to lists all User Models and elements, which refer to this DCS Tool Frame. Click Apply to make
the changes permanent. Use Delete to reset all values. The Tool Frame is no longer shown as "(defined)".

The controller version affects the number of DCS Tool- and User-Frames that get their coordinates from the
robot's setup. If the robot's controller is not configured, the following message is displayed:

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 DCS

DCS User Frames

DCS user frames are not the robot user frames, to which the operation points refer. DCS user frames are
used to position Cartesian Position Checks.

To define a DCS User Frame, choose a Number (1-9). The number is already in use if "(defined)" appears
next to it.

You can enter a Comment.

UFrame Number is a frame number between 0 and 999. The frames 0-10 are reserved and cannot be
modified. The User Frame coordinates are carried over automatically.

User Frame defines the coordinates.

Assigned to lists all CPCs that refer to this User Frame.

Click Apply to make the changes permanent. Use Delete to reset all values. The Tool Frame is no longer
shown as "(defined)".

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DCS

The controller version affects the number of DCS Tool- and User-Frames that get their coordinates from the
robot's setup.

If the robot's controller is not configured, the following message is displayed:

Shape Models

User Model

You can define a User Model as a Tool Model and create up to 16 User Models. Each User Model can have
a maximum of 10 geometry elements. The following shapes are supported:

• Point (Sphere)
• Two Spheres
• Line-seg (Capsule)
• Box (only one Box per User Model)

You can define:

• Points - by a point and radius

• Line Segments - by a radius and two points

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 DCS

• Boxes - by an offset, which is located in the middle of the X/Y-plane, as well as width, height and
thickness

Use the User Model for the following purposes:

• As a target for the Zone-Check function (maximum three User Models per zone)
• Dedicated to the Tool Frame as a Tool Model (one User Model per User Frame)

You can use a Shape Model with multiple CPC Zones or Tool Frames, as long as these belong to the same
Motion Group. You can only import User Models that are used, or that are activated and contain data.

Number is the geometry's number (1-10). You can only activate the same number once (Active
checkbox).

Use Enable/Disable to determine if the geometry should be taken into account when checking for
collisions.

Use Link No. to assign the geometry to one of the robot's links, setting 99 as the robot flange. In this case,
the Link Type is not used. The Graphic Viewer displays the selected frame in yellow.

Use Link Type to set the Link Frame of the selected axis as the geometry's Base Frame. Some of the robot's
axes have multiple Link Frames. In this case, the Link Frame is indicated by Link Type.

Use User Tool to list all defined Tool Frames. The number in brackets is the UToolNumber. 0 signifies there
is no Tool Frame. Selecting a Tool Frame causes it to be used as the geometry's Base Frame if the Link No
is the robot's flange (99). Otherwise the Base Frame is the point that results if you apply the Tool Frame
matrix to the Link Frame. You should use the Tool Frame to define the orientation of a box.

Robot Model

A Robot Model is the geometry for a robot's arm. It is defined by default and cannot be changed. Define the
Base Frame (Link Frame) of the robot arm for each robot type separately. You can create the Robot Model
by right-clicking Export and selecting Create/Update Robot Model.

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Shape models

Tool Model

A User Model, which is assigned to a Tool Frame, is called Tool Model. The Tool Model is used if the
geometry for the tool changes dynamically. You can set the Tool Model of the selected Tool Frame as target
for the zone check by setting the Target Number to "‑2".

Shape models

A User Model is a Tool Model that you define. You can create up to 16 User Models and assign up to a
maximum of 10 geometry elements for each User Model. The following shapes are supported:

• Point (Sphere)
• Two Spheres
• Line-seg (Capsule)
• Box (only one Box per User Model)

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 Shape models

You define a Point by a point and radius; a Line-Segment by a radius and two points; a Box by an offset,
which is located in the middle of the X/Y-plane, as well as by width, height and thickness.

You can use the User Model for the following purposes:

• As target for the Zone-Check function (max. three User Models per zone)
• Dedicated to the Tool Frame as Tool Model (one User Model per User Frame)

A Shape Model can be used by multiple CPC Zones or Tool Frames, as long as these belong to the same
Motion Group. The only User Models that you can import are those that are used, or that are activated and
contain data.

Number is the number of the geometry (1-10); the same number can only be active once (Checkbox
Active).

Enable/Disable determines whether the geometry is taken into account when checking for collisions.

Link No. assigns the geometry to one of the robot's links. "99" represents the robot flange. In this case Link
Type is not used. The Graphic Viewer displays the selected frame in yellow.

Link Type: The system uses the Link Frame of the selected axis as the Base Frame of the geometry. Some
of the robot axes have multiple Link Frames. In this case the Link Frame is indicated by Link Type.

User Tool lists all defined Tool Frames; the number in brackets is the UToolNumber. 0 indicates no Tool
Frame. If a Tool Frame is selected, it is used as the Base Frame of the geometry, if the Link No is the robot's
flange (99). Otherwise the Base Frame is the point that results if you apply the matrix of the Tool Frames to
the Link Frame. The Tool Frame should be used to define the orientation of a box.

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Cartesian and joint checks

Robot Model

A Robot Model is the geometry around a robot's arm. The Robot Model is defined by default and cannot
be changed. Define the robot arm's Base Frame (Link Frame) separately for each robot type. You can create
the Robot Model by right clicking Export and selecting Create/Update Robot Model.

Tool Model

A Tool Model is a User Model assigned to a Tool Frame. The Tool Model is used if the geometry around
the tool changes dynamically. You can set the Tool Model of the selected Tool Frame as target for the zone
check, by setting the Target Number to "2".

Cartesian and joint checks

Cartesian position checks (CPC) / safe zone

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 Cartesian and joint checks

Every Safe Zone is identified by a Number (1-32).

You can enter a Comment.

You can select up to three User Models, which will be checked against the zone. The following applies:

• -2 uses the Tool Model

• -1 uses the Robot Model
• 0 signifies that this model will not be used
• 1-16 is the number of the User Model that should be used

By selecting the Tool Model, the system checks whether the robot's Tool Select property is set to "-1: Tool
change".If it is not set, the system asks you if you wish to set it in order to allow Tool Change functionality:

A Safe Zone is defined relative to a User Frame, and the safety functions check if a shape is inside a Safe
Zone. The User Frame is used as the zone's Base Frame. The number of the DCS User Frame must be
selected; and the UTool Number is added in brackets, for information.

The DSC User Frames section of the Safety Robots Manager (above), shows assignment to the User Frame
after selecting the User Frame in the CPC menu.

Stop Type determines how the breaking action is performed:

• Power-Off Stop cuts the power, the robot decelerates on an undefined path.
• Controlled Stop slows the robot, with the help of its engines, for at most one second, keeping the robot
on the programmed path. Then the power is interrupted.
• Not Stop - there is no break.

Use Disabling Input to dynamically activate or deactivate the CPC.

You can use one of two Modes to define a Safe Zone: Diagonal and Lines. Both can have the safe zone
inside (IN) or outside (OUT) the defined area. You can create up to 32 zones.

You can activate or deactivate Use Stop Position Prediction.

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Cartesian and joint checks

To create a new zone, right-click Cartesian Position Checks and select New Cartesian User Check
(Diagonal) or New Cartesian User Check (Lines).

Use Diagonal to define a zone with the help of two points, which form the diagonal of a box.

Use Lines to define a zone as vertices of a polygon in X, Y. The angle between two edges must be <180°.
The height is given by the Z coordinate of two points, Z1 and Z2. The number of vertices must be between
3 and 8.

Use Cell Space Geometry as Surfaces to draw the geometry as surfaces instead of solids. You must use
this setting for collision checks. Check Create Floor and Roof to also draw a bottom and top surface.

If two or more zones overlap, the safety zone is the intersection of all zones. In the following example C is
the resulting safety zone:

The following zone cannot be defined directly, because a > 180°:

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 Cartesian and joint checks

To create this zone it is necessary to combine two zones. Zone A needs to have its safe zone inside and the
safe zone of zone B must be outside. As a result, the permitted area is inside A, but only outside B.

Cartesian speed check

Cartesian Speed Check functionality checks the velocity of the DCS TCP and the base of the DCS Tool
Frame. You can define up to 16 CSC.

Each CSC is identified by a Number.

You can enter a Comment.

Use Enable to define if this CSC is active or inactive.

Use Direction to define the supervised direction. All, X/Y/Z, X/Y/Z only positive or only negative.

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Cartesian and joint checks

Tool Frame is the Tool Frame being used.

User Frame is he User Frame being used.

Use Limit to define the maximum velocity.

Use Stop Type to define what happens when the velocity exceeds the limit: Power down engines, Break
with engine power then power down, Nothing.

Use Disabling Input to dynamically activate or deactivate the CSC.

Use Permissible Distance to define the extent of permissible Robot movement (for example, due to
vibration) - the limit is 0.

You can right-click the tree node to create a new Cartesian Speed Check.

Joint position check

Joint Position Check functionality checks a joint's position. You can define up to 40 JPC.

Every JPC is defined by a Number.

You can enter a Comment.

Enable indicates whether the JSC is used or not.

Use Safe Side to define if the axis must be inside or outside the defined limits.

Axis displays the monitored axis number.

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 Cartesian and joint checks

Use Stop Type to determine what happens if the limit is exceeded: Shut down motor power, Decelerate
then shut down, Nothing.

Use Disabling Input to dynamically activate the JSC.

Clicking the New Window icon opens a new window that shows the default values for the robot.
Double-click a value to apply it.

Upper Limit is the allowed/forbidden upper bound.

Lower Limit is the allowed/forbidden lower bound.

Current Value is the current position of the axis.

Right-click the Joint Position Checks tree node to create a new Joint Position Check.

Joint speed check

You can up to 40 JSC.

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Dual check safety 3.6.1

Every JSC is defined by a Number.

You can enter a Comment.

Enable indicates whether the JSC is used or not.

The Direction that is checked: All, Only positive or Only negative.

Axis displays the number of the monitored axis.

Use Limit to define the highest permitted speed.

Use Stop Type to determine what happens if the limit is exceeded: Shut down motor power, Decelerate
then shut down, Nothing.

Use Disabling Input to dynamically activate the JSC.

Use Permissible Distance to define the distance that the axis may move when the limit is 0 (for example,
due to vibration). Used to avoid false alarms.

Right-click the node in the Export tree to create a new Joint Speed Check.

Dual check safety 3.6.1

For Cartesian Position Checks, you can define Speed Checks. Click Detail to open a new window with the
following options:

• Speed Control: Disable/Override

• Limit: Allowed speed
• Disabling Input: The input used to activate or deactivate the limit.

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 Dual check safety 4.2.10

• OVR Limit: OVR Limit

You can only set one (instead of four) limits for Joint Speed Check and Cartesian Speed Check.

Dual check safety 4.2.10

Permissible Distance indicates that if the distance moved is less than the permissible distance, motor
power is not shut down even though the DCS TCP speed exceeds the speed limit. Use this setting to avoid
false alarms caused by vibration during servo ON. This parameter is used only when the "Limit" is 0.

FANUC Manufacturer Specific Limits

Dual Check Safety 3.5.3 / 3.6.1

Description Quantity
User Models 0-16
Geometries per Model 0-10
Cartesian Position Checks 0-32
Vertices (Lines only) 3-8
Cartesian Speed Checks 0-16
DCS Tool Frames V3.5.3: 0-10

V3.6.1: 0-16

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FANUC Manufacturer Specific Limits

Description Quantity
Controller >= V7.63: 0-29
DCS User Frames 0-9

Controller >= V7.63: 0-20

Controller >= V8.36: 0-61

Joint Position Checks 0-40
Joint Speed Checks 0-40
Cartesian Speed Checks 0-16
UTool Number 0-10 (reserved) 11-999 (free)

Controller >= V7.63: 0-29 (reserved)

UFrame Number 0-9 (reserved) 11-999 (free)

Controller >= V7.63: 0-20 (reserved)

Controller >= V8.36: 0-61 (reserved)

Process Time Factor

Method Geometry
Point Line-seg Box
Diagonal (INSIDE) 2 3 20
Diagonal (OUTSIDE) 4 7 130
Lines (INSIDE) 3 5 30
Lines (OUTSIDE) 5 12 220

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 COMAU RoboSafe 3 1

COMAU RoboSafe 3 1

Overview RoboSafe 3.1

Set the correct RoboSafe Version. Currently only RoboSafe 3.1 is supported.

Use Enable Speed Modulation to automatically slow the robot to prevent an OBD violation.

Use Enable Prog Speed Limit to limit kinematic monitoring points to no more than 250 mm/s in prog
mode.

You can choose how to Stop On Violation: Stop 0 or Stop 1,

For the TC,P you can define the following for lower speeds (< 250 mm/s) and higher speeds:

• Active Mode: how speed limit is activated

• Enabled: Speed limit activated, or not
• Max Speed: permissible maximum speed
• Stop On Violation: how to stop if speed is greater than Max Speed

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COMAU tools

Documentation Version is the version of the robot's safety documentation (excel). This value is exported
to excel as well as to the robot's export (as a comment).

Robot System File

To create Kinematic Monitoring Points, the point coordinates need to be know. They are included in the
RobotSystem.xm lfile. If this file does not exist in the robot's prototype (.cojt) directory, the system looks
for it in the robot's RobotsMachineDataFiles. If that is not found, the system checks whether a file with the
robot's prototype name exists in <Tecnomatix>\eMPower\DotNetCommands\SafetyRobot\COMAU. The file
is copied to the robot's prototype folder and to the RobotsMachineDataFiles folder in case the directory of
the prototype is not writeable.

COMAU tools

Right-click Tools in the tree to add a new tool to the robot. In RoboSafe 3.1 you can add up to one tool. You
can create up to eight points, shown as small spheres, and you can monitor their velocity and position in a
zone.

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 COMAU tools

Tool Sets

Each Tool Set has a Number, and you can have a maximum of two tool sets.

Use Active to determine when a tool set is used for monitoring.

Use Enabled to allow you to activate or deactivate the tool set.

You can define two points per tool set with coordinates and a radius.

Tool Orientation

You can monitor the tool's orientation in relation to the robot's base frame.

Use Enabled to set the Tool Orientation to be active.

Use Stop In Auto Mode to select the stop category in auto mode.

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Cells forbidden access

Use Stop In Prog Mode to select the stop category in prog mode.

Use Active to define when tool orientation is activated.

Flange Vector is a vector from the center of the flange to the given position, which is monitored against a
cone defined by the Z-Axis of the rotated base frame (Orientation) and the Angle.

Cells forbidden access

The cell, which is always active, is the main area that confines the robot and all safety objects.

Activate Enabled to allow checking its bounds.

If you activate OBD active, the robot slows before hitting the wall in order to limit the distance it travels
after the wall.

Use Stop In Auto Mode to select the stop category in auto mode.

Use Stop In Prog Mode to allow you to select the stop category in prog mode.

Define ZMin and ZMax, where ZMin must be lower than -41 if OBD is deactivated and lower than -600 if
OBD is activated.

You can define up to eight corners.

For collision detection, you can display the Cell Geometry as Surfaces.

This message displays if points have been added to the cell outside of Safety Robots (unsupported order).

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 Cells forbidden access

These points may represent a valid, but unsupported, geometry, because the points are not in the correct
order. In the following illustration, the correct order would have been for point 6 to be in the place of point
2:

You can reorder the points to allow Safety Robots to import the cell space with the points in the corrected
order. Points that cause the geometry to be invalid are removed.

You can define up to 10 Forbidden Areas that are always active and prevent the robot from entering
them.

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Dynamic areas

Each Area has a Number and a Name.

The geometry is defined by the Lower Right Corner, and Width, Depth, and Height.

You can display the Forbidden Area Geometry as Surfaces for collision detection.

Dynamic areas

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 Functional sets

You can create up to 10 Dynamic Areas.

Each area is identified by a Number and has a Name.

You can choose whether the area is Enabled or not.

Use Area Type to define if the area is an allowed working, or a forbidden area.

Use Active to select how to activate the area.

The geometry is defined by the Lower Right Corner, and Width, Depth, and Height.

You can display the Dynamic Area Geometry as Surfaces for collision detection.

Functional sets

Each Functional Set has a Number and can be Enabled. You can create up to 15 Functional Areas per
Functional Set.

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Joints

Each Functional Area has a Number and a Name. You can define the geometry using Lower Right
Corner and Width, Depth, Height. For collision detection, you can activate Functional Area Geometry as
Surfaces.

Joints

Joint space limiting

Each Joint Set has a Number and you can Enable Joint Space Control.

Use Activated by to define when the Joint Set is activated.

Stop In Auto Mode allows you to select the stop category in auto mode.

Use Stop In Prog Mode to select the stop category in prog mode.

You can activate each axis individually and determine whether the workspace is within or outside the
bounds.

The yellow light bulb icon indicates that the slice for this axis is displayed. If the bulb is gray, the slice is
hidden.

Use Elevation and Radius to optimize the Pie Chart's visibility.

Inactive axes, or regions the robot cannot reach, are displayed in gray. The green part of the slice is the
permitted area, and the red part is the forbidden area.

The outer slice displays the positive values, and the inner slice displays the negative values.

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 Joint space limiting

There are two pointers: the white one marks the zero position, and the blue one shows the current
position.

You can use the options to configure the pie chart's default size.

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Joint speed limiting

Joint speed limiting

Joint Speed Limiting restricts the axis to the given speed limit. Axis speed is checked if you activate the
Joint Speed Limiting Enabled option.

Use Active Mode to define when Joint Speed Limiting becomes active.

Stop On Violation allows you to determine how to stop if a higher speed than the one configured is
detected.

You can set each axis to Active independently and set its speed limit.

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 Joint functional sectors

Joint functional sectors

The robot informs, through certain output signals, in which sector it is currently. You can define sectors for
axis 1 and the first external axis. Upper and Lower bounds are added for your reference. Adding the first
delimiter provides two sectors:

• From the lower limit to the delimiter

• From the delimiter to the upper limit

You can change Radius and Elevation to improve visibility. For the external axis you can change
Translation in X, Y, Z and Radius. To make it easier to align to the robot's base, also picking a frame
fills in the XYZ values.

You can configure default colors and radii in the Options menu.

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Kinematic monitoring points

Kinematic monitoring points

Kinematic monitoring points are points on the robot's axes. Point coordinates are defined by the
manufacturer and stored in the RobotSystem.xml file. You can change the radius and you can also define
two Elbow Kinematic Points with coordinates and radius. If the file is for another robot, and/or the points
do not match the robot's axes, the file is still read, but the position of the spheres is incorrect. The warning
informs you about the robot's prototype name and the expected prototype. If the names are different,
delete RobotSystem.xml from the robot's prototype and from the RobotsMachineDataFiles folder. Restart
SafetyRobots. If the message still displays, contact W.E.S.T. Support.

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 COMAU Manufacturer Specific Limits

COMAU Manufacturer Specific Limits

RoboSafe 3.1

Description Quantity
Tools 0-1
Spheres 0-8
Tool Sets 0-2
Spheres 0-2
Tool Orientation 0-1
Cells 0-1
Vertices 0-8
Forbidden Areas 0-10
Dynamic Areas 0-10
Functional Sets 0-2
Functional Areas 0-15
Joint Sets 0-6
Joint Speed Limiting 0-1
Joint Functional Sectors 0-1
Delimiters 0-14
Kinematic Monitoring Points 4-6
Elbow Monitoring Points 2-2

Yaskawa

Functional Safety Unit DX200

Functional Safety Unit (FSU) DX200

Only the Safe Version DX200 is currently supported.

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Common

• Safe Version - only DX200 is currently supported.

• Group selects the control group to be monitored (Robots 1 to 8). You can only change the Group if there
are no imported sets.
• CPU Load Total (%) displays the total load on the CPU when combining safety areas. Only areas with File
Valid Status "valid" are summed up.
• Documentation Version is the version of the Excel robot documentation. This value is written to Excel
as well as to the robot export (as a comment).

Common

These input fields are available on most safety objects and are therefore described here.

• A Comment can be entered to describe the use of the safety object.

• File Valid Condition: The file setting for the monitoring status:
◦ Invalid (completed but monitoring is inactive)
◦ Valid (completed, monitoring is active)
◦ Signal (completed monitoring is active if a safety signal is present)
• Stop Method defines how the robot stops at a safety violation. Currently the value is always Category0
(cut off servo power).

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 Tools

• Output Signals

The monitoring result of the condition file is output to the selected signal. An output signal can only be
used once per robot. There are eight output signals: FSBOUT01 to FSBOUT08. The number in brackets
(here: "(#1)") is the controller group number.
• Input Signals

The field is only active if File Valid Condition is set to Signal. The input signals are imperative when
creating the condition files.
◦ Bit—bit0 to bit4. Up to five signals can be set for a condition file
◦ Input signal—there are eight input signals: FSBIN01 to FSBIN08. The number in brackets (here:
"(#1)") is the controller group number
◦ Set—assignment of the validity condition (ON: fulfilled / OFF: not fulfilled)

Tools

By right-clicking tools in the tree, you can add a new tool to the robot.

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Robot range limits

FSU DX200 supports up to 64 active tools per controller. You can create up to five capsules to define the
shape of the tool. Two points per capsule (Start, End) with coordinates, Radius and Length.

• Start and End are equal sets the two positions (Start, End) to the same coordinates, treating the
capsule as a sphere.
• Use Active to select whether or not the monitoring tool is used in Safety Robots Manager.

Robot range limits

The robot tools are monitored to determine whether they are within the specified safety area.

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 Robot range limits

Three types of objects are represented in the YASKAWA version for the graphic display of robot range
limits:

Cuboid

Prism

Plane

• Each range has a Number. You can create up to 32 areas.

• Alarm Set triggers an alarm and cuts servo power when set to ON. If set to OFF, it does not trigger an
alarm, but the result of the safety check can be monitored using the output signal.
• Monitor Target is the area to be monitored: Inside or outside the area.
• Reference selects the area's reference position.

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Robot range limits

• CPU Load shows the load on the CPU. 8% for one plane up to 30% for a prism with 16 corners. This
value is only taken into account for the robot's total if the File Valid Condition is set to "Valid".

Robot Range Limit Cuboid and Plane can define two points per range. Robot Range Limit Prism can define
a polygon of 3 to 16 points on a plane (X, Y) per range. Also, you can specify an upper and lower point on
the x-axis.

• Geometry as Surfaces shows the geometry using surfaces instead of a solid. You can use this setting
for collision investigations.
• Use Active to select when the area is used for monitoring.

Robot range limits

Space as prism - Cuboid from two points (1, 2):

Space as polygon - Prism from 6 points:

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 Robot range limits

A prism consists of min. 3, max. 16 points (Points 1-6). Point 7: Height Z+, 8: Height Z-

Range as plane: Two points on a chosen plane (XY, YZ or XZ). A plane is defined in the vertical direction
along the defined line.

Planes X-Y, X-Z and Y-Z

3: X-Y plane

4: X-Z plane

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Axis range limits

5: Y-Z plane

The areas within the dashed lines are not safe areas.

Area monitoring types

The following three types of monitoring are available:

1. Inside range monitoring

2. Outside range monitoring
3. Planar interference monitoring

Axis range limits

The angle of each axis is monitored whether or not it is within the specified bounds.

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 Axis range limits

Monitors the axes values. Each axis should be within the defined range of motion. The safety area lies
between the upper and lower limits. You can create up to 32 Axis Range Limits. One set contains 6 robot
axes and up to 3 auxiliary axes.

• Alarm Set triggers an alarm and cuts servo power when set to ON. If set to OFF, it does not trigger an
alarm, but the result of the safety check can be monitored using the output signal.
• You can activate each axis individually and has its own range limits. You can display or blank the pie
chart using the yellow "light bulb".
• You can use Elevation to move the geometry along the axis to improve visibility.
• You can also adjust the Radius.

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Axis speed monitors

On the pie chart, regions unreachable by the robot are displayed in gray. The green area represents the
permitted zone, and red indicates the prohibited zone.

The outer area displays the positive values, while the inner area displays the negative values.

There are two indicators: White marks the zero position, and Blue indicates the current position. You can
set the standard size of pie charts in the Options.

Axis speed monitors

The speed of each axis is monitored whether it is equal to or less than the specified speed.

• Each Axis Speed Monitor is identified by a Number. You can define up to 32 Axis Speed Monitors.
• You can activate each axis individually, and each has its own Speed limit.
• Acceptable Range specifies the permissible range. This field is only activated if the Speed Limit is 0
(zero).

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 Speed limits

Speed limits

The speed of the tool center point (TCP) or the flange center point (FCP), if no TCP is defined, is monitored.

• Each speed limit is identified by a Number. You can define up to 32 speed limits.
• Speed Limit indicates the maximum allowed speed.
• Detection Delay Time is the time between activation and the start of alarm detection.
• Acceptable Range specifies the permissible range. This field is only activated if the Speed Limit is 0
(zero).

Tool angle monitor

The angle of the tool is monitored whether or not it is within the given range.

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Fixed stop data

• Each Tool Angle Monitor is identified by a Number. You can define up to 32 Tool Angle Monitors.
• Monitor Type is currently not available. Its values are:
◦ Approach Vector (current angle of the incoming vector)
◦ Reference Angle (reference angle of the incoming vector)
• Reference Angle Rx, Ry, Rz is the reference angle for tool angle monitoring.
• Angle is the upper limit of the angle that may result from the two vectors (current / reference angle).

Fixed stop data

Fixed stops are also available with YASKAWA and can be set for axes 1 - 3. You can set the braking distance
for the fixed stop for the upper or lower limit, which in turn is limited by the soft limit of the robot axis.
A braking distance area extends into the unsafe axle area, which begins above the upper and below the
lower limit.

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 Fixed stop data

The size of the pie chart displays in Process Simulate can be changed using the Pie Chart Radius and their
position on the axis of rotation can be shifted using Pie Chart Elevation. You can use the elevation to
move the geometry along the axis to improve visibility. You can also adjust the radius.

Inactive axes, or regions that the robot cannot reach, are displayed in gray. The green area represents the
permitted zone, and the red area indicates the prohibited zone.

The outer area displays the positive values, while the inner area displays the negative values.

The White indicator marks the zero position, while the Blue one shows the current position. You can set
the standard size of pie charts in the Options.

Clicking (only active in Edit mode) takes over the soft limits, and clicking sets the current limits as
soft limits.

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Adjustment reference position

Adjustment reference position

The adjustment reference position is only displayed in the tree if it was created. To create
an adjustment reference position, right-click on the robot and select Adjustment Reference

Position:

All TCPs found for the selected robot are made available for selection in a drop-down menu. You can also
pick your own frame or set it using the numeric boxes.

The values of the axes are shown for the selected pose. If the robot is on an external axis, this axis must
have a pose with the same name. The value of the carriage is also displayed. A separate sheet for the
adjustment reference position is created in the documentation.

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 Import / Export

Import / Export

Use this dialog to import ( ), or export ( ) settings. You can also accomplish this by right-clicking
the tree. You can use these exports in the robot manufacturer's tools.

You can export the machine data files for all robots by right-clicking a blank line, or any robot.

Export Settings

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Import / Export

When exporting, a message displays, asking you if want to export an initial file export, or update file
export. The initial export contains all possible elements; and unused ones are initialized with zero values.
This export is used the first time an import is implemented on a robot. The update export contains only
used elements.

Note
Warning

In order to prevent the MotoSim existing data from being overwritten, use the Update file option when
exporting multiple robots.

The export folder contains the following files, depending on the exported safety objects:

File Description
AXRNGLMT.DAT Axis Range Limits
AXSPDMON.DAT Axis Speed Monitors
RBRNGLMT.DAT Robot Range Limits
SPDLMT.DAT Speed Limits
TLANGMON.DAT Tool Angle Monitors
TOOLINTF.DAT Tools

Import Settings

You cannot change imported settings directly. Instead, drag and drop them onto the tree's Export node
and modify them from there. You can only drag and drop of objects if the robot type and safety version are
equal. Pressing the <ctrl> key while dragging the object, does not move it, but copies it.

If you chose not to create prototypes during import, you can create them later. To do so, right-click an item
(such as a tool), or an item group (such as Tools) and select Create.

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 YASKAWA Manufacturer Specific Limits

YASKAWA Manufacturer Specific Limits

YASKAWA (FSU) DX200

Description Quantity
Robots 0-8 per controller
Tools 0-64 per controller
Tool Spheres 0-5 per tool
Points 0-2 per spheres
Robot Range Limit 0-32 per controller
Points 2-16 per range
Axis Range Limit 0-32 per controller
Axis Speed Monitor 0-32 per controller
Speed Limit 0-32 per controller
Tool Angle Monitor 0-32 per controller

Robot program viewer

The Robot Program Viewer enables you to view robotic programs or operations you have designed in
Process Simulate after they have been compiled and displayed in the syntax of their target robot controller.
The viewer may include collapsible blocks of code and colored keywords/regions for ease of debugging.

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Robot program viewer

General support is provided for all available controllers. However, text formatting is currently available only
for the most commonly-used controllers, but is continually being expanded to include more controllers.

If necessary, you can open multiple instances of the Robot Program Viewer to view multiple programs of a
single robot or of different robots simultaneously.

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 Robot program viewer

If the program contains errors that would cause the download to fail (for information on downloading
programs to robots, refer to Download To Robot), the relevant command is marked in the program panel
(upper panel) with a vertical red line and details of the error are provided in the notifications panel (lower
panel) in the Static tab. For example, if the robot speed is omitted on a location, it is likely that when you
download the program to the robot, a critical failure will occur and the download will abort. You can make
the required changes in your program, even as it runs.

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Robot program viewer

If you have made changes to a program or operation that is displayed in the Robot Program Viewer, it is
automatically reloaded even during simulation.

You can use this tool to:

• Follow highlighted motions or commands in the program panel as their execution is simulated.
• View notifications created by the (simulated) download process. There are three categories:
◦ Messages—General information.
◦ Warnings—Errors that will not cause the download to abort.
◦ Errors—Critical errors that will cause the download process to fail.
Messages created by downloading a specific motion instruction or OLP command display the serial
number of the relevant instruction/command program line in the Line column. General messages in the
download process display a dash (-) in the Line column.
• Edit OLP commands. You can double-click an OLP command (or right-click it and select Edit OLP
command) to open it in the OLP Command Editor.
You can also right-click a line in the program and select Add OLP command before or after to add OLP
commands or select an OLP command and select Delete OLP command.

In several OLP languages, it is possible to create, track and examine messages that originated and are
handled in OLP code. In the Robot Program Viewer, the lower message pane contains the Operator tab,
which displays controller messages, both informative messages and interactive ones that require user
input.

Robot Program Viewer supports Messaging commands for Kuka, Fanuc, Yaskawa, and ABB. These
messages emulate dialogs usually displayed on the real robot Pendant, and can be Notification, Selection,
Status or Input Dialogs. For FANUC, supported message commands are MESSAGE, Prompt Box Msg, Prompt
Box YN, List Menu and Status Menu. For ABB, most messaging commands are supported, including
TPWrite, TPReadFK, TPReadNum, UiNumEntry, UiNumTune, UiAlphaEntry, UiMsgBox, UiMessageBox, and
UiListView. The messages are displayed sequentially in the Robot Program Viewer, in the order in which
they were created.

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 Robot program viewer

Note
• When resetting the simulation before playing it - the messages still display. Playing the simulation
after resetting it causes the messages to disappear.
• If there are any unacknowledged messages, the Operator tab will be automatically visible.
• When the controller sends messages during simulation, the Operator tab automatically becomes
visible.

For Fanuc and Yaskawa controllers, if the simulation of a particular robot was paused by an OLP command,
you can click Resume to continue simulation.

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Run robot program viewer

For messages with interactive buttons, after pressing the button, the message display changes to reflect
the input.

If the Operator tab pane is already full, the list automatically scrolls to the bottom as new messages are
added. If you open the pane during a simulation, it automatically jumps to the bottom of the message list.

Note
The Fanuc RJ and Fanuc RJ Japan robot controllers also support the Run command for parallel
processing of modules when running in Line Simulation mode. To use this command, the module
must first be loaded in the Modules Viewer, after which it appears in the auto-complete menu when
commanding Run in the Robot Program Viewer. The module must not contain any arguments or it fails
to run. Neither may it contain any motion commands, which are ignored. When running a module via
the Run command, an additional tab opens in the Simulation Monitor to track the commands in the
module.

Run robot program viewer

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 Procedure

1. Choose Home tab → Viewers group → Robot Program Viewer to display the Robot Program
Viewer window.
2. If you had previously selected a program or robotic operation, this is automatically loaded in the
Robot Program Viewer when it launches. Otherwise, select a robotic program in the Robotic
Program Inventory or a compound robotic operation in the Object Viewer.

3. Click Add .The currently selected program or operation is added to the Robot Program Viewer.
Process Simulate converts the operation and displays it in the syntax of the controller of the robot to
which the program is assigned.If you want to add a program to an instance of the Robot Program
Viewer during simulation, you can pick a robot to automatically load the program or operation
currently run by the robot into that instance, replacing the current one. If you select a currently
simulating robot, then when launching a new Robot Program Viewer, the relevant program or
operation run by the selected robot is automatically loaded in the new instance.In the Program panel,
motion instructions or commands with download errors are marked with vertical red lines, warnings
with yellow lines, and messages with blue lines.For ease of editing the program, you can copy, cut,
and paste commands in the Robot Program Viewer. If you paste information from any source other
than the Robot Program Viewer itself or the OLP editor into the Robot Program Viewer, it is only
retained as text (not as a customized command). Multiple selection is also available using the <Ctrl>
key.
4. You can do any of the following:
• Click a motion instruction or OLP command marked with a colored vertical line to view only the
notifications associated with that command in the lower panel.

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 • Right-click a location(s) and select Comment to skip the locations during simulation (or
Uncomment to reactivate a location if it was commented out).
When a location is skipped, the robot proceeds directly to the next location without visiting the
skipped location. However, if the skipped location has OLP commands, these are executed.

Note
Currently, this feature is only available when running the Fanuc-Rj, Yaskawa DX200, YRC1000,
and Duerr-Ecotalk robot controllers.

The Commented Out status of locations is synchronized between the Robot Program Viewer, Path
Editor, and Object Viewer.

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 Note
In the Fanuc syntax, commented locations are indicated by //.

• Edit the arguments of Call operations (see Object Viewer) by using the Free Text option.
Arguments parameters consist of Input/Output and type.

Note
Types not regularly used in Process Simulate (that are not found in the Signal Viewer) are only
displayed in the Robot Program Viewer, and you cannot edit them. For example, hardware types,
or complicated types, like switches.

The Fanuc Rj series of robot controllers supports context-sensitive auto-complete of the text as you
type.

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 • Click the Watch tab and do the following:
◦ Monitor Robot Variable values and modify them, making it easier to test and debug programs.
Modified values are not stored.

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 ◦ Track robot signals. After adding a robot signal in the Watch tab, its value is synchronized with
the Signal Viewer and Simulation Panel.

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 ◦ Changing F[] and R[] in the Watch tab is reflected in the simulation of WAIT commands.
◦ You can monitor "UTOOL_NUM" and "UFRAME_NUM" in the Watch tab.
◦ You can monitor and change Cartesian PR[i,j] in the Watch tab.
• Double-click a notification in the lower panel to jump to the relevant line in the program panel.
• Click a notification tab to hide its contents. This enables you to concentrate on the other
notifications.
• Click the Call Stack tab to view which routines and subprograms have been invoked. This can be
useful for debugging purposes. In the following example, MainProgram is running and no further
calls have been made.

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 The next example shows that MainProgram has called UpperCase.

The stack shows the most recently called routine on top and earlier ones below, in the order they
were called. Each routine in the stack has called the one directly above it.
You can double-click any item in the Call Stack to view its code.
Whenever the operation or program displaying in the Robot Program Viewer is executed in the
Sequence Editor or the Path Editor, the Robot Program Viewer steps through the program, highlights
the currently executing line in the program, and displays a yellow arrow to the left of it. Where the
scope (operation or program) on display is modified outside the Robot Program Viewer, the Viewer

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 reloads its contents to reflect the changes. You also have the option to manually reload the display by

pressing Reload , or by selecting the Reload command from the right-click context menu.
5. You can set breakpoints on locations, OLP commands (one per command) and end of operations.
Right-click a line in the Robot Program Viewer to insert breakpoints to pause the simulation at those
points and select Add Breakpoint. A red dot in the margin indicates the inserted breakpoint. Right-
click the breakpoint to deactivate it (white dot with red rim) or delete it. Right-click a deactivated
breakpoint to make it active again.
When you run the simulation in the Sequence Editor with the Robot Program Viewer open,
simulation stops at each breakpoint to enable you to analyze the program for debugging purposes.
Continue the simulation the same way you would as after pressing the Pause button.
If you close all the Robot Program Viewers, the simulation runs continuously without stopping at
breakpoints, but they remain in place for when you re-open the Viewer, for the duration of the
session. Once you close the study or exit the application, the breakpoints are not persisted.

Note
For complex OLP commands, it is not possible to set breakpoints on their nested commands.

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 Note
If you add a breakpoint while displaying the same code in more than one viewer, the breakpoint
appears in all the viewers.

6. If the program or operation has stopped running (due to a Wait time or Wait signal command or
because of a break point or a pause), you can right-click any line or instruction and select skip to

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 row (if it is enabled) to move the pointer to that line. When you resume the simulation from the Path
Editor or Sequence Editor, execution of the operation resumes from the instruction you skipped to.

7. If the program is still running, but you have lost focus of the execution point, click Jump to Pointer
to view the command which is currently executing. If the currently executing operation is not

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 Robotic program inventory

inside the displayed scope, pressing Jump to Pointer changes the displayed scope to the currently
executing scope of the robot, with the pointer inside.

8. You can activate Follow Pointer , and then whenever the execution leaves the displayed scope in
the Robot Program Viewer, the Viewer automatically loads the scope in which the robot is executing.
This is especially relevant when:
• In the displayed scope there is a call to a sub-operation. When the robot starts to execute the
sub-operation, the sub operation is displayed.
• The displayed scope was called as a sub-operation from another scope. When the robot completes
executing the displayed scope, it returns to execute inside the calling scope, which is now
displayed.

When Follow Pointer is activated, the Robot Program Viewer automatically follows the executing
scope, but only if it was showing the executing operation / program. Otherwise, having activated
Follow Pointer does not cause the viewer to automatically follow the currently executing operation /
program.
9. If you wish to deactivate automatic scrolling of the program in the viewer, click Freeze auto scroll

. Click the icon again to resume automatic scrolling of the program in the viewer.

Robotic program inventory

The Robotic Program Inventory displays the existing programs for all robots in the current scene and
enables you to perform operations on the robotic programs. You can filter the list to display only the
programs of a specific robot.

Note
A robotic program contains a list of robotic operations containing the code executed by a robot during
an operation. You can optionally use the Path Editor to assign a path number to operations in the
robotic program's list of operations. The simulation can refer to specific operations in a robotic program
by the path number.

Procedure

1. Choose Robot tab → Program group → Robotic Program Inventory.

The Program Inventory dialog box is displayed.

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 2. You can filter the list of programs using the Filter by Robot dropdown list, as follows:
• To view programs for all robots, select All Robots from the list.
• To view only programs for a specific robot, select a robot from the list.
3. You can use the buttons in the toolbar of the Program Inventory dialog box to perform the following
operations:

Button Description
Creates a new program in the Program
Inventory. Refer to New Robotic Program.

Opens the selected program in the Path Editor.

Refer to Path Editor.
Downloads the selected programs to the robot.
Refer to Downloading Programs.

Uploads the selected programs to the robot.

Refer to Uploading Programs.

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 Open a Program in the Path Editor

Button Description
Sets the selected program to be the default
program. The default program is shown in the
Program Inventory in bold text. Refer to Setting
a Program as the Default Program.
Deletes the selected program. Refer to Deleting
Programs.

Open a Program in the Path Editor

The Open a Program in Path Editor command appears in the toolbar of the Program Inventory dialog
box.

Procedure

1. Select a robotic program in the Program Inventory dialog box.

2. Click in the toolbar of the Program Inventory dialog box.The robotic program appears in the
Path Editor.

Or

• Select a single program in the Program Inventory and choose Home tab → Viewers group → Path
Editor.

The Path Editor opens with the selected items loaded.

Note
If you select both operations and robotic programs, only the operations are loaded in the Path Editor.

Setting a program as the default program

The Set as Default option appears in the toolbar of the Program Inventory dialog box.

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 Procedure

1. Select a program in the Program Inventory dialog box.

2. Click in the toolbar of the Program Inventory dialog box. The selected program is set as the
default program. The program name appears in bold text to indicate its status as default.

Delete a program

The Delete option appears in the toolbar of the Program Inventory dialog box.

Procedure

1. Select the robotic program you wish to delete in the Program Inventory dialog box.

2. Click in the toolbar of the Program Inventory dialog box.

The program is deleted and the program name is removed from the Program Inventory dialog box.

Note
Deleting a robotic program removes the robotic program object, but does not delete the operations
in the program.

Editing a Robotic Program

The Edit Robot Program option enables you to add and delete a robotic operation and location, and to
modify the operations within a program. You can only add operations that use the same robot as the
program.

Procedure

1. Choose Robot tab → Program group → Robotic Program Inventory.

The Program Inventory dialog box is displayed.

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 Upload program

2. Select a robotic program from the list in the Program Inventory dialog box.

3. Click in the Program Inventory dialog box to open the robotic program in the Path Editor. The
robotic program appears in the Path Editor. The robotic program's paths and locations are displayed
as children under the robotic program name.
4. Add operations or locations to the robotic program, either by dragging and dropping from the
Object Viewer or the Graphic Viewer (only locations can be dragged from the Graphics Viewer) into
the Path Editor or Sequence Editor, by using commands in the Path Editor toolbar. You can only
add operations that use the same robot as the robotic program.
5. You can modify the operation attributes in the Path Editor. Any changes to the operation also appear
in the Teach Pendant feature.

Upload program

The Upload program command receives information from a robot (in a specific controller syntax) and
saves it as robotic operations and/or programs.

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 Note
If you have configured Process Simulate on Teamcenter to expose new weld points and Continuous
Mfgs, Process Simulate prompts you to supply an object for Mfg Container (Teamcenter item containing
weld points) during the upload process.

Procedure

1. Select a robot from the Graphic Viewer or Object Viewer and choose Robot tab → Program group

→ Upload program .
Or

Click Upload program in the toolbar of the Program Inventory dialog box.

The Upload Program Scope list appears.

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 Select a target compound operation under which to nest the uploaded program.
2. Click OK.A file browser window opens at <System root>\RobotsMachinesDataFiles\<Robot name>.If
necessary, navigate to a different destination. On future occasions, the new destination is displayed
for the selected robot.
3. Select the desired program files and click OK.For each file, Process Simulate runs the uploader,
uploads the file, and creates robotic operations and/or programs.

Fanuc robots only:

If you have set Motion Planner in the Controller tab of the selected robot's properties to VRC, the Upload
program command uploads the programs from the Fanuc RoboGuide virtual robot controller to Process
Simulate.

Procedure

1. Select which programs to upload.

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 2. Click OK.The programs are uploaded to Process Simulate.

Refer to Fanuc VRC for more information.

This video demonstrates downloading and uploading operations to robots.

Note
Videos are not included in PDF. To access videos, use HTML.

Upload Robcad robotic program

In order to upload a Robcad robotic program to Process Simulate:

Export from Robcad

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 Procedure

1. Make sure to overwrite the default.apg file with the one necessary for exporting to Process Simulate.
2. Load the Robcad cell.
3. Select the robot.
4. Set all external axes to 0 (zero).
5. Change the controller to default.
6. Download the path or set you want to export to Process Simulate.Robcad generates a .default file.

Import in Process Simulate:

Procedure

1. Load the scene.

2. Select the robot.

3. Choose Robot tab → Program group → Upload Robcad Robotic Program .

The Upload Robcad Robotic Program dialog box displays.

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 4. In the tool:
a. Select the attributes files (typically $ROBCAD/dat/attributes).
b. Select how the Robcad turns should be understood, according to the robot.
c. Select the Robcad exported files.
d. Click Upload.

This generates a Weld operation for each path and a Compound operation for the set (if any). The locations
inherit all Robcad attributes (most of them are common for the Robcad and Process Simulate controllers).

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 Download to Robot

Download to Robot

The Download to Robot command converts robotic programs or operations into files that can be
downloaded to a robot. It does this according to the syntax specified by the robot controller assigned
to the robotic program and stores the files on the loaded scope.

Downloaded files are stored directly on the operation in the Process Structure. If the selected operation is
relevant to Process Simulate, but not to Teamcenter, the download is stored on the nearest Teamcenter
parent operation.

Note
The robot controller is specified in the Controller tab tab of the Robot Properties dialog box.

Procedure

1. Select operations in the Object Viewer, Path Editor, or Sequence Editor. You can select as many
operations of a given robot as you wish. If you select programs of different robots or if the assigned

robot controller does not support multiple download, the Download to Robot icon becomes
inactive, indicating that you cannot perform the download.
2. Right-click the operations and select Download to robot. The Download Results appear.

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 3. Click Save to execute the download.

Or

Procedure

1. Select a robot.

2. Choose Robot tab → Program group → Download to Robot .

Or

Click Download to Robot in the toolbar of the Program Inventory dialog box.

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 A file browser window specific to the assigned robot controller appears opens at <System
root>\RobotsMachinesDataFiles\<Robot name>.
3. Select a file to download and click OK. The Download Results appear.

4. Click Save to execute the download.

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 Fanuc robots only:

If you have set Motion Planner in the Controller tab of the selected robot's properties to VRC, the
Download to Robot command downloads the programs to the Fanuc RoboGuide virtual robot controller.

Procedure

1. Select which programs to download.

2. Click OK.
The Download Results appear.

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 3. Click Send to VRC.The program is downloaded to RoboGuide.

Refer to Fanuc VRC for more information.

This video demonstrates downloading and uploading operations to robots.

Note
Videos are not included in PDF. To access videos, use HTML.

New Robotic Program

The New Robotic Program command appears in the toolbar of the Program Inventory dialog box and in
the Program group of the Robot tab.

Procedure

1. Click in the Program Inventory dialog box or choose Robot tab → Program group → New

Robotic Program .
or

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Create Robotic Program for Compound Operation

Choose Operation tab → Create Operation group → New Operation → New Robotic Operation

.
The New Robotic Program dialog box is displayed.

2. Enter a name for the new program in the Name field.

3. In the Robot dropdown list, select the robot on which the new program operates or select the robot
from the Graphic Viewer or Object Viewer.
4. You can add a comment in the optional Comment field.
5. Click OK to close the New Robotic Program dialog box. The new robotic program appears in the
Program Inventory dialog box.

Create Robotic Program for Compound Operation

The Create Robotic Program for Compound Operation option searches for robotic paths in the selected
compound operation. If all the paths it locates are assigned to the same robot, the system creates a new
robotic program for the robot and names it after the name of the selected compound operation with
a _program suffix. The system then inserts all the paths from the compound operation under the new
robotic program. The order of paths in the new robotic program is the order in which the paths run in the
compound operation. The command is enabled when you select one or more compound operations.

• If you select multiple compound operations, the system repeats the process for each one and creates a
new robotic program for each one.
• The compound operation remains unchanged.
• Paths inserted in the new robotic program are retained by the robotic programs to which they have
previously been assigned.

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 Create Scheduler Operation

• If there is no robotic path under the selected compound(s), the system does not create a program. No
error message is issued.
• The system ignores operations that are not robotic paths. No error message is issued.
• If you selected paths assigned to different robots, the system does not create a program and issues
the following message: The system was unable to create a Robotic Program for one or more
Compound Operations (listed below), which contain operations performed by different robots: <
list of compound_operation_names>.

Create Scheduler Operation

The Create Scheduler Operation tool enables you to create a scheduler operation nested under a selected
compound operation.

Procedure

1. Choose Robot tab → Program group → Create Scheduler Operation.

The Create Scheduler Operation dialog box appears.

2. Enter the Name of the scheduler operation.

3. Select a robot to be assigned to the new operation.
4. Click OK. The scheduler operation is created and nested under the compound operation.

Display Robot Properties

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 The Robot Properties command enables you to display and modify the location of the TCPF of a selected
robot, as well as define external axes for the robot. An external axis refers to a joint belonging to an
external device controlled by the robot.

You can display the locations of the TCPF and reference frame defined for the selected robot and modify
their locations, as required.

Procedure

1. Select Component as the Pick Level.

2. Select a robot, either in the Graphic Viewer or Object Viewer and choose Robot tab → Setup group
→ Robot Setup and click Robot Properties .
The Robot Properties dialog box is displayed open to the Settings tab, and both the TCPF and
baseframe are highlighted on the robot in the Graphic Viewer:

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 The exact location of the TCPF is specified in the table in the TCP Frame area and the exact location of
the reference frame is specified in the table in the Reference Frame area.
3. To adjust the position of the TCPF, select a frame from the Relative to dropdown list in the TCP
Frame area. The measurements displayed are relative to the selected frame.

Note
You can modify the position of the selected frame by clicking in the Graphic Viewer when the
Relative to field is in focus or by clicking the dropdown arrow next to the Frame of Reference

button and specifying the new location of the frame using one of the four methods
available.

4. Enter a new value for a required coordinate or select a new value using the up and down arrows. The
TCPF moves to its new location in the Graphic Viewer.
5. To adjust the position of the reference frame, select a frame from the Relative to dropdown list in the
Reference Frame area. The measurements displayed are relative to the selected frame.

Note
You can modify the position of the selected frame by clicking in the Graphic Viewer when the
Relative to field is in focus or by clicking the dropdown arrow next to the Frame of Reference

button and specifying the new location of the frame using one of the four methods
available.

6. Enter a new value for a required coordinate or select a new value using the up and down arrows. The
reference frame moves to its new location in the Graphic Viewer.

Note
You can use the Mount Tool and Unmount buttons to mount tools to and unmount tools from
the selected robot. Refer to Mount Tool, and Unmount, for more details.

Note
The robot's Inverse Type is displayed at the bottom of the Robot Properties dialog box, as follows:
• No Inverse - The robot has no inverse algorithm.
• User Inverse - The robot uses the user inverse module; the name of this module is also
displayed. This is only an indication of the robot setting, but does not prove the user inverse
module is available on the user machine.
• Approximate Inverse - The robot uses an iterative approximated algorithm that can deal with
robots with more than 6DOF (this might also be referred to as Special Inverse Solver).
• Core Inverse - All inverse algorithms are implemented by Process Simulate, (except for the
Approximate Inverse).

7. Click Close to save your changes and close the Robot Properties dialog box.

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Select a robot controller

Select a robot controller

Procedure

1. In the Robot Properties dialog box, select the Controller tab.

The following is displayed:

2. Select the required robot controller from Controller name list, which shows all the controllers that
are currently installed in the system, including RRS1 controllers (if any).

Note
A default controller is installed with a basic set of parameters and commands, which you can
modify, as required. For more information about modifying these parameters, refer to Teach
Pendant.

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 Define a new external axis

3. In Controller version, select the required version for your robot controller.
4. In RCS version, select the required RCS version.
5. Select the appropriate Manipulator type from the dropdown list.

If you click , you can enter a Filter string to filter the list and assist in making the selection.

6. In Motion Planner, set one of the following:

• MOP—When using the default controller for MOP approximation.
• RRS—When performing Realistic Robot Simulation.
• RRS Static—When running legacy RCS in Simulation, Disconnected and RCS in Non Simulation,
Connected.
• VRC—When using Virtual Robot Controllers.
7. Optionally, click any of the following icons:

• —Validates the RCS parameters and displays a message whether the RCS module can be
initialized.

• —Terminates the RCS module. This icon is only active if the RCS module has been initialized.

• —Opens a third-party setup dialog box for the selected controller.

8. Click Close.

Define a new external axis

Note
If you have defined a Servo Gun as a tool for the robot or mounted a Servo Gun on a robot (refer to
Mount Tool), the Servo Gun joints are preloaded in the External Axes tab.

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 Procedure

1. In the Robot Properties dialog box, select the External Axes tab.
The following is displayed:

2. Click Add.
The Add External Axis dialog box is displayed.

3. From the Device dropdown list, select an object in the cell other than the robot.
4. From the Joint dropdown list, select the joint of the object that should be defined as an external axis
of the robot.
5. Click OK. The external axis is displayed in the External Axes tab.

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To remove an external axis

• Select an external axis from the list displayed in the External Axes tab, and click Remove.

View conveyor tracking signals

For more information on robot conveyor tracking, refer to Robot Conveyor Tracking. For information on
creating robot conveyor tracking signals, refer to Robot Signals

Procedure

1. In the Robot Properties dialog box, select the Conveyors tab.

The following is displayed:

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 2. The Conveyor Association area lists which conveyor signal types (Signal Function) are associated

with which Conveyor. To change the association, select a signal type and click or double-click
the signal type.
The Associate Conveyor with Signal dialog box appears.

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 3. Position signal displays the selected signal type. From Conveyor, pick a conveyor to associate with
the signal type and click OK.

4. If necessary, select a signal type and click to cancel the association.

The Tracking Signals Connections area is read-only and displays the position signal types you have
defined and how they are connected to robot tracking signals, logic behavior elements, and logic behavior
exits. For information on configuring logic behavior elements, refer to Create Logic Resource.

In the following example, the signal type ConveyorPosition_1 (displayed in bold type) whose name is
Rob1ConvPos (displayed in italics) is connected to the logic block PartSupply1 and the robot signal is
connected to the logic block exit Decoder1.

Note
You can only associate a conveyor with a single signal. If you attempt to associate a previously-associated
conveyor with another signal, the first association is cancelled in favor of the second.

RRS customization
Process Simulate uses external applications to do all of the following:

• Improve simulation accuracy and cycle time estimations using RRS modules provided by the robot
vendors.
• Add user specific programming commands using customization.
• Automate path creation using path templates.

The available extensions and their locations are noted in the RRS.xml file at <installation
folder>\eMPower\Robotics\OLP. By default this is an empty template - the following is an example after
it has been edited.

<?xml version="1.0" standalone="yes"?>

<Data>
<ControllersData>
<Controller Name="Kuka-Krc">
<InstalledVersions>
<Version Name="krc8.3_r18_stop0.v7">

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RRS customization

<ModuleName>C:\rrs_bin\rcs_krc1\krc8.5_r09_stop0.v7\bin\rcskrc1_tune.exe</
ModuleName>
</Version>
<Version Name="MyCompany"
CustomizedPath="C:\rrs_bin\Customization\Customer_1\Kuka-Krc">

<ModuleName>C:\rrs_bin\rcs_krc1\krc8.5_r09\bin\rcskrc1_tune.exe</ModuleName>
</Version>
<InstalledVersions>
</Controller>

<Controller Name="Kuka-Krc-Bmw">
<InstalledVersions>
<Version Name="r04.21">
<Version Name="krc5.2_r02">

<Version Name="krc8.x_G30" NewMotion="false"

CustomizedPath="C:\DATA\MyCustomization_1\Kuka-Krc-Bmw">

<ModuleName>C:\rrs_bin\rcs_krc1\krc8.3_r11\bin\rcskrc1_tune.exe</ModuleName>
<ModulePathName>C:\rrs_bin\rcs_krc1\krc8.3_r11\bin</
ModulePathName>
</Version>
<Version Name="krc8.x_G30" NewMotion="false"
LocationNameMaxLength="23" CustomizedPath="C:\DATA\MyCustomization_2\Kuka-
Krc-Bmw">

<ModuleName>C:\rrs_bin\rcs_krc1\krc8.3_r11\bin\rcskrc1_tune.exe</ModuleName>
<ModulePathName>C:\rrs_bin\rcs_krc1\krc8.3_r11\bin</
ModulePathName>
</Version>
<Version Name="krc8.3_r18">
<InstalledVersions>
</Controller>

<Controller Name-"Abb-Rapid">

After editing the RRS.xmlfile, the changes take effect the next time Process Simulate is started.

Note
• ModulePathName is redundant information that may exist in old rrs.xml files. It is not necessary to
add it explicitly when installing a new RRS module.
• Some entries in the rrs.xml file are controller specific. For information on these settings, refer to the
relevant controller documentation at OLP Controllers.
• It is recommended to save a copy of the recent rrs.xml file in addition to the active one for reuse after
reinstalling Process Simulate or when upgrading to a new version.

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 Controller settings

Controller settings

Some manufacturers produce customized, robot-specific RCS modules that can be used by Process
Simulate. The RCS module replaces the default module in Process Simulate and provides the following
features:

• True geometric reproduction of robot behavior.

• Accurate timing of robot behavior.

The following features are customized per robot and depend on the RCS module:

• Customized robot controller, including OLP command functionality.

• Customized teach pendant and robot download functionality.
• Customized gun closing - When running in RRS (Realistic Robot Simulation) mode, you can configure
servo guns to remain slightly open when in their "closed" state to correspond to the thickness of the
metal sheet being welded. This is done double-clicking the relevant Thickness cell in the Path Editor
and entering the desired value for each weld location.

Note
◦ This feature is not available for weld points whose Motion Type is Spot Move.

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 ◦ Currently, this feature is only available for Yaskawa and Fanuc controllers.

• ESRC — Emulated Specific Robot Controller. Provides the ability to execute robot-specific syntax,
including signal synchronization and macro execution, without an RCS module.

For more information, see Teach Pendant.

Running robot-customized, non-RCS actions (without launching the RCS module) does not require an RCS
license (because these actions are developed by Siemens, not the robot manufacturer). In order to do this,
you need to disconnect these actions from the RCS module.

Procedure

1. To disconnect robot operations from the RCS module, choose Robot tab → Setup group → Robot

Setup and click Controller Settings .

The Controller Settings dialog box is displayed.

Note
The information in this table is derived from the RRS.xml file.

If the version of the RCS module in Process Simulate does not match that installed in the robot
controller, the Controller Settings dialog box marks it as Invalid.
The Controller Settings toolbar contains the following icons:

• —Initializes the RCS parameters and initializes the RCS module (if possible) according to the
parameters of the robot currently selected in the table. When initialization is complete, the system
displays a message indicating whether the RCS module was initialized.

• —Validate
◦ Validates all RCS parameters and initializes the RCS modules of all robots in the table (if possible)
according to the parameters. The system displays a message indicating which RCS modules were
initialized and lists any errors. These are all presented in a single dialog box after the last request
has been processed.

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 If you wish to view a detailed log, click Yes. The log file is named
RCSValidateAllRobots_<date>_<number> and is stored in the Temp directory.
If you wish to abort the RCS initialize process before it terminates, click Cancel.

When the current server request is completed, the process terminates and presents the results
for the robots it has processed.
◦ If Motion planner is set to VRC, Validate establishes a connection to the virtual robot controller.

• —Terminates the RCS module. This icon is only active if the RCS module has been initialized.

• —Terminates all RCS modules. If one or more RCS modules have been loaded, this function
terminates them all. After doing so, the system lists all the RCS modules that were not loaded and
that were terminated.

• —Opens a setup dialog box for the selected robot.

2. For each robot listed in the Robot Name column, you can set the following:
• Controller

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Robot setup

◦ Name—Select the required robot controller from the dropdown list, which shows all the
controllers that are currently installed in the system, including RRS1 controllers (if any).
◦ Version—The controller version.
◦ RCS Version—Select the required RCS version.
• Motion Planner—Configure the motion type. Possible values: MOP, RRS to connect the robot with
its RCS module for accurate simulation, or VRC.
• RRS—If Motion planner is set to RRS, configure the following:
◦ Manipulator Type—Select the appropriate Manipulator type. Each controller has its own values.

If you wish to filter the Manipulator Type list according to a specific string, click . The Filter
String dialog box appears.

Type the string and click .

◦ Status—Displays either Loaded if the RCS module is running or a dashed line if not running.
• Virtual Robot Controller—If Motion planner is set to VRC, the following VRC parameters are
displayed: Host, Port, Name, and Program Pointer.
• You can right-click any column and select a value to apply it to all the entries in the table.

Note
The tab Controller of the Robot Properties dialog box shows the same information for the selected
robot.

3. Click Close to save your robot settings.

These are stored in an XML configuration file and persist for coming sessions.

Note
A grayed field indicates that this feature is not available for this controller.

The controllers shown in the list are dependent on which robot controllers have been downloaded
and installed from the GTAC support website.

Robot setup

Choose Robot tab → Setup group → Robot Setup and click Robot Setup.

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 Robot Configuration

The Robot Setup command opens a dialog with options relevant to the OLP controller of the selected
robot. See the OLP Controllers documentation for information about the specific Robot Setup options for
your selected robot.

Robot Configuration
This video demonstrates how to configure robot properties and updating robot machine data.

Note
Videos are not included in PDF. To access videos, use HTML.

The Robot Configuration option enables you to view and teach the inverse solutions for reaching a
selected location within a robotic operation. The solutions are calculated and displayed for each location
by the system when a robot is assigned to the operation. This option is disabled if no robot has been
assigned to the operation.

Note
The Robot Configuration option supports continuous feature operations and seam operations but not
their parent operations.

You can specify that the simulation use a different solution than the default selected by the system. In
addition, you can modify a solution by changing the joint values.

Process Simulate can read motionparameters.edatasets under the robot instance.

The motionparameters.e file should be supplied from the database as part of the device closure. It can be
set on the Item Revision of the device as follows:

• As a motionparameters.e file inside the ProcessSimulateMotionParams dataset.

• For devices originating from Context Collaboration Integration, the device's .emz file may contain a
motionparameters.e file.
• cProcessSimulateMotionParams dataset.
• If none of the above is true, no Motion Parameters are loaded.

For cases when the data does not originate from Context Collaboration Integration, it is possible to
work with Motion Parameters only when the appropriate dataset type is defined. This is supported in
Teamcenter v8.2 and up (in Teamcenter 2007.2, special customization is required).

1. Select a location within a robotic operation and choose Robot tab → Setup group → Robot

Configuration .
The Robot Configuration dialog box is displayed.

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Robot Configuration

The name of the parent operation is displayed in the title bar of the dialog box, and the robot that will
perform the operation is displayed in the Robot field.
2. If you selected an operation (instead of a specific location), the first location is displayed by default in
the Current Location field. You can change the location by browsing with the navigation buttons, as
follows:

Button Description
Selects the first location in the selected robotic
operation.

Selects the previous location in the selected

robotic operation.

Selects the next location in the selected robotic

operation.

Selects the last location in the selected robotic

operation.

3. In the Robots Solutions list, select the solution for the robot to use during the simulation.

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 Set Robot User Inverse

By default, the robot uses the first solution displayed. To use a different solution, select it from the list
and then click Teach. The selected solution is displayed in bold font. It is also displayed in the Graphic
Viewer.

Note
To revert to the default solution, click Clear.

4. To have all subsequent locations in the operation use the same inverse solution as the selected
location, click Dynamic Teach.

Note
To return to the default solutions for these other locations, click Clear in the Location Series area.

5. If required, modify the Turn field for a joint in a selected solution. Select a joint in the Joint Turns

list. Click to increase the turn number, and click to decrease the turn number. When
changing the Turn field, the Value field will change accordingly. The value must be within the limits
displayed in the Low and High fields.

Note
If the joint name is different than the joint index, the joint name is added in parentheses.

6. Click Close.

Set Robot User Inverse

Choose Robot tab → Setup group → Set Robot User Inverse to select a user-defined inverse for
kinetics.

This is a DLL file that provides all the possible joint solutions for a given cartesian target. The selected
inverse is display in the Robot Properties dialog box.

Robot toolbox

Note
For Robot Toolbox operations, the term Tool refers to a resource and frame pair assigned to a robot,
unlike tools defined using Tool Definition.

The Robot Toolbox enables you to create a resource and frame and assign this tool pair to a robot and
view sets of similar tool pairs assigned to robots. The assigned tools are available to the robot throughout
the simulation.

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Open the Robot Toolbox

You can assign tools to a robot and view sets of tools assigned to robots. The assigned tools are available to
the robot throughout the simulation. The Robot Toolbox includes information about the tools assigned to
the robot and buttons to perform functions on the tools.

Often, it is useful to include tools that are not yet fully-designed in a simulation. Use the Robot Toolbox to
assign incomplete tools, called virtual tools, requiring only the tool's TCP frame information.

The Robot Tools list displays the tools assigned to the selected robot. For each tool, a Mounted checkbox
indicates whether the tool is mounted on the robot. Use the Mount or Unmount buttons to mount or
unmount a tool on the robot.

In order to use the tools you have defined in the Robot Toolbox, you must define a specific tool to be used
in an operation. This is done by adding a Work Tool to the default Teach Pendant.

Open the Robot Toolbox

Procedure

1. Select a robot in the Graphic Viewer or Object Viewer.

2. Choose Robot tab → Setup group → Robot Toolbox .

The Robot Toolbox dialog box appears, displaying the tools associated with the selected robot.

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 Note
• Selecting a tool in the Robot Toolbox dialog box highlights the tool and its TCP frame in the
Graphic Viewer and Object Viewer.
• Multiple selections are not possible in the Robot Toolbox dialog box.

The following table describes the fields and information in the Robot Tools dialog box.

Field Description
Name Indicates the name of the tool.
Mounted Indicates whether the tool is mounted or not.
Resource Indicates the component on which the tool is based.
TCP Frame For physical tools, this field displays the name of the frame modeled in the resource, on
which the tool is based.

For virtual tools, this field displays VIRTUAL.

Comment User-defined comment describing the current tool.

Add a tool to the Robot Toolbox

Procedure

1. In the Robot Toolbox dialog box, click Add.

The Add Tool dialog box appears.

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 Note
The default name in the Name in Toolbox field is Tool followed by a numerical suffix.

2. In the Name in Toolbox field, replace the default name with a unique name for the tool. The name
must be different from any other tool name in the selected robot's toolbox but need not be different
from the tool names in other robot toolboxes.
3. In the Comment field, write an optional comment.
4. Click in the Tool field and select a component in the Graphic Viewer or Object Viewer upon which to
base the tool.
• If you select a component that has physical frames modeled, the Physical radio button in the
TCP Frame area is automatically checked. All of the physical frames modeled in the selected
component are available in the dropdown list in the Physical field.
• If you select a component that does not have physical frames modeled, the Virtual radio button in
the TCP Frame area is automatically checked.
5. If you selected a component that has physical frames modeled, do one of the following:
• To define a physical tool, click the Physical field's dropdown list and select a frame from the list.
• To define a virtual tool, check the Virtual radio button in the TCP Frame area.
6. If you selected a component that does not have physical frames modeled or if you checked the
Virtual radio button manually, define a TCP frame for the virtual tool:

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 Edit a tool in the toolbox

• Click in the Graphic Viewer to create a TCP frame for the virtual tool. Alternatively, click next to the
Virtual field to display a list of other standard options for defining frames.
• Click the frame to open the Location dialog box and fine-tune the its coordinates.

When the virtual frame is defined, it is highlighted in the Graphic Viewer.

• Click OK to close the Location dialog box.
7. In the Add Tool dialog box, click OK to add the new tool to the toolbox.

Edit a tool in the toolbox

Procedure

1. Select a tool in the Robot Toolbox dialog box.

2. Click Edit.
The Edit Tool dialog box opens with the parameters of the selected tool displayed.

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Remove a tool from the toolbox

3. Adjust the parameters in the fields as required. Ensure that the Name in Toolbox field is different
from the other tool names in the selected robot's toolbox.
4. Click OK to save the changes.

Remove a tool from the toolbox

• Select a tool in the Robot Toolbox dialog box and click Remove. The tool is removed from the toolbox
list.

Mount a tool in the toolbox

Procedure

1. Select an unmounted tool in the Robot Toolbox dialog box.

2. Click Mount. This launches the Mount Tool command. When you have finished running this
command, the tool's Mounted field is checked, indicating that the tool is mounted on the robot.

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 Unmount a tool in the toolbox

Unmount a tool in the toolbox

• Select a mounted tool in the Robot Toolbox dialog box and click Unmount. The tool's Mounted field is
cleared, indicating that the tool is not mounted on the robot.

Reset RCS Module

Procedure

1. In the Graphic Viewer, select a robot. The robot must have an RRS controller and its RCS module
must already be loaded.

2. Choose Robot tab → Setup group → Reset RCS Module .

Customized Command XML Checker

This document describes the XML elements and attributes allowed in the customized configuration files.

To make it easier to see logical problems (and sometimes also syntax problems), you can run the
Customized Commands XML Checker (click the icon in Process Simulate). You can use this every
time you fix the XML files, to recheck their validity. You can work in parallel to the Teach Pendant.

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Customized Command XML Checker

When clicking Check, the service reads the XML in the below order, and displays errors (if they exist) in the
Result dialog box.

Clicking Help opens the RoboticsCustomizedUIManual help file.

Encryption of Customized XML Files

To protect customized XML files, it is possible to use encryption. To do so, press the Encrypt button and
select the XML files to encrypt. The encrypted files are created with the XMLC suffix and can be safely
shipped to contractors and suppliers. Process Simulate handles both XML and XMLC files transparently
(Note: do not leave both of them).

Reporting of Encrypted XML Files Controller Version

To display a Results list of the controller versions to which the encrypted XML files are relevant, press the
Report button.

Expiration Date for Customized XML Files

To protect organizations from unlimited use of stolen customized XML files, it is possible to use the
ExpirationDate element and set its date. After this time the XML is no longer valid and an error message is
shown, for example:

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 Calibration

<RobotController Name="Abb-Rapid" ExpirationDate="15/03/2015"

ExpirationMsg="The XML file has expired.">

Calibration

After creating objects in Process Simulate, it is possible to measure the equivalent real objects on the shop
floor. In this case, you may wish to calibrate (transform) the source points to be as close as possible to
the destination points, as measured and stored in Process Simulate. The Calibration command accepts
multiple pairs of points (each pair consists of a source point and an destination point) and uses an
algorithm to adjust the position and orientation of the source pairs so that the average distance between
the sources and destinations is as small as possible. The algorithm calculates the optimum transformation
for all the pairs - there will be an improvement for most of the pairs but one or two may not be improved.
Siemens recommends using not more than ten pairs to maintain system performance.

After adding all the desired pairs, the system calculates the transformation and you can apply it if you are
satisfied. You can apply more transformations and unapply them. At the end of your session, you can store
the calibration set in the server.

Procedure

1. Choose Robot tab → Setup group → Calibration .

The Calibration dialog box appears.

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 The top part of the dialog box lists the available calibration sets in the current scene. Selecting a
calibration set automatically displays its details in the lower part of the dialog box (in read-only
mode).
2. To create a new calibration set, click New.
The New Calibration Set dialog box appears.

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 3. Click Robot or Device and pick a robot or device from the viewers.
4. Type a meaningful Calibration Set name.
5. Enter a short Description (optional).

Note
If you wish to edit the Description after closing the New Calibration Set dialog box, you can
double-click the pair's Description in the Calibration dialog box and edit it.

6. Click OK.
The New Calibration Set dialog box closes. The new calibration set is listed in the Calibration dialog
box and its details are displayed in the lower part of the dialog box.

7. Click Edit to open the calibration set for editing.

Note
If the calibration set has already been applied, the system issues a warning that you must unapply
the calibration set before editing is allowed. The system prompts you to do so; click Yes if you wish
to proceed.

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 8. The Calibration Information area displays the Name of the calibration set and the Robot or Device
to which it relates. You must select a robot or device before editing the calibration set. You can
change the Relative to frame setting to select a different frame of reference for the coordinate
measurements in the Calibration dialog box.
9. Click the Target Objects list and pick objects from the viewers. These are the objects on which the
system performs the transformation. You can pick resources, parts, frames, and operations.
10. To add a calibration pair:
a. Click Add.
The Add Calibration Pair dialog box appears.

b. Click Source Location or Path and pick a source object in the viewers.
c. Click Destination Location or Path and pick an destination object in the viewers.
For example, pick a source location and destination location in the Object Viewer.

The locations are displayed in the Calibration Pairs grid. The list displays the Name and X, Y,
and Z coordinates (relative to the frame you set in Calibration Information) for both the Source
and Destination locations. It also displays the distance between the source and destination
locations Before and After performing the calibration transformation.

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 11. Optionally, you can do any of the following to the Calibration Pairs grid.
• Check Active to include a pair in the calibration calculation or clear it to exclude the pair.

• Click to resize the columns of the Calibration Pairs grid for an optimal display.
• Select a calibration pair and click Remove to delete it from the calibration set or click Clear to
empty the entire set.
• Click the Name column header to sort the calibration pairs.

Note
• The calibration calculation runs in real time, updating the Calibration Results automatically
when new calibration pairs are added, removed, activated, or deactivated. The system displays
the following results.

◦ dX, dY, and dZ - Displays the transformation distance results on the X, Y, and Z axes.
◦ Rx, Ry, and Rz - Displays the transformation rotation results around the X, Y, and Z axes.
◦ Maximum distance - Displays the distance between a transformed object and the original
object for the calibration pair with the largest average distance.
◦ Average distance - Displays the average distance between all the transformed objects and the
original objects.
◦ RMS - Displays the RMS (root mean square) distance between all the transformed objects and
the original ones.
• There must be at least three calibration pairs to enable calibration calculation (because three
pairs define a plane).

12. When you have finished configuring the calibration set, click Accept or Discard.

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 • Accept - Retains the latest changes to the calibration set. The changes will be stored when you
save the scene.
• Discard - Discards the latest changes to the calibration set. The system prompts you for
confirmation before rolling back the latest changes.
13. Click Apply.
The system applies the currently-selected calibration set to the Target Objects. The first calibration
set you apply is marked 1 in the Applied column and sets you subsequently apply are marked with
increasing numbers. The display is sorted according to the Applied index.

14. If you are not satisfied with the result of the transformation, you can click Unapply to undo the
changes.

Note
• Unapply performs the reverse transformation (it does not preform a simple undo). Therefore, if
you have applied more than one transformation, unapply the transformations in reverse order.
In the above example, unapply kr3501 40 Calibration S first, then robot Calibration Set, and
finally, robot Calibration Set 4.
• You cannot edit applied transformations. If you wish to do this, you must first unapply the
transformation. If you try to edit an applied transformation, the system prompts you to unapply
the transformation. Click Yes if you wish to proceed.

15. Optionally, you can perform any of the following:

• To delete a calibration set, select the calibration set and click Delete. The system prompts you to
confirm the deletion. If, however, the calibration set has already been applied, the system prompts
you with a warning that after deleting the calibration set, you will be unable to unapply it. Click Yes
if you wish to proceed.
• Set Maintain Orientation for a calibration set or sets. In this case, the calibration translates objects
but does not rotate them. This can be clearly seen in the Calibration Results area. For example, if
Maintain Orientation is clear, rotation is enabled and the results might appear as follows:

When Maintain Orientation is set, the rotation components of the calibration result remain at
zero. For example, in a factory, the shop floor is uniformly horizontal, so you do not want to
change the orientation of objects when adjusting their location for exact calibration.

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 Open machine data folder

• To emphasize or deemphasize the calibration pairs in the Graphic Viewer, toggle the Emphasize
button. The robot or device is displayed in gray, the source locations in orange, the destination
locations in blue, the target objects in magenta, and the entities that are not part of the calibration
are dimmed.
• To export the current calibration set to Excel, click Export.
The system prompts you for a file name and path and saves the calibration information in XLS
format. The following is an example of an exported calibration set:

16. Click Close to exit the Calibration dialog box.

Open machine data folder

Select robots and choose Robot tab → Setup group → Open machine data folder.

A window opens for each specified robot, with relevant folders for the robot. This enables quick browsing
and access to relevant information.

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Automatic Interference

Automatic Interference
The Swept Volume and Interference Volume commands can be time-consuming, and due to the lack
of direct relationships between a robot, its swept volumes, and its interference volumes, the output may
be difficult to analyze. The Automatic Interference command accepts robotic operations, creates swept
volumes for these entities, and creates interference volumes where swept volumes deriving from separate
robots overlap each other. The command then calculates the last location of the operation or program
before entering the interference volume and the first location after exiting the interference volume. These
are the entry and exit locations and the system marks them with OLP comments last loc before IV and
first loc after IV (where IV specifies the actual name of the interference volume as it appears in the Object
Viewer).

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 Create automatic interference volumes

Additionally, the query function provides tools to view the different relationships between the robot, its
swept volumes, and its interference volumes.

Typically, since Automatic Interference runs for an extended period of time, you can invoke the command
at the end of a work day and examine the results the next morning.

Note
The Automatic Interference command:

• Does not add any safety clearance onto the swept volumes it creates. If this is important for your
analysis, use the Swept Volume and Interference Volume commands.
• Resets all robotic operations before creating swept volumes. If you want to avoid this, create a robotic
program, as described in New Robotic Program and edit it accordingly, as described in Editing
Robotic Programs.
• Stores simulation errors and warnings in a log file.

Create automatic interference volumes

Procedure

1. Choose Robot tab → Volumes group → Automatic Interference . The Automatic Interference
wizard appears.

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 2. To add operations to the Operations list, click and select operations in the Object
Viewer.Operations are valid if they possess at least two locations and an assigned robot, and are
marked with the symbol. Operations are not valid if they do not meet these criteria and are marked
with the symbol - if you hover your mouse over this symbol, the system displays a tooltip notifying
you why the operation is not valid.

3. If necessary, select operations and click to remove them from the Operations list.
4. Set the Accurate/Fast slider to achieve the balance you require between speed and accuracy when
simulating the swept volume. Typically, you can choose a fast speed for the initial analysis and repeat
the process later with greater accuracy in order to fine-tune it for more accurate results. The position
of the slider is stored for the next session.
5. By default, the Keep non-intersecting Swept Volume objects option is cleared. In this case, after
the system has created interference volumes, it deletes all swept volumes not participating in any
interference (except if an error occurred during execution). Check this option if you wish to retain
non-intersecting swept volumes.
6. If you wish to include robot cables in the calculation, check Include cables. Otherwise, clear it.
7. Click Create.
The Settings area contracts and the Progress area expands, displaying progress details.

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 Note
The Progress area also displays the number of errors. If there are too many errors, you can
abandon the volume creation, make improvements, and start again.

The Automatic Interference command is likely to run for a long time - it is recommended to plan
ahead. When complete, the system displays the following message.

The new swept volume and interference volume objects are displayed in both the Graphic Viewer
and the Object Viewer.

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 8. Check View log file if you wish to view the log file.
9. Click Close to exit the Automatic Interference Volume Creation wizard.
If you checked View log file, the log file appears listing details of all the operations performed.

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 Query interference volume

The log file contains the following details:

• For each swept volume:
◦ Whether the generation succeeded or not.
◦ Errors and warnings.
◦ Whether the deletion succeeded or not.
• For each interference volume - whether the generation succeeded or not.
• The time duration for each step.

Query interference volume

Procedure

1. Choose Robot tab → Volumes group → Interference Query . The Interference Volume Query
window appears.

2. Click and select interference volume(s) in the Graphic Viewer or Object Viewer.

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 The Objects column of the Interference Volume Query window displays a hierarchy of the selected
interference volumes.

The root of the query is the selected interference volume. Its name
is a composite of the names of its child swept volumes (in this example,
IV_SV_R1_MH_W_Weld_Op1_AfApp_SV_R3_MH_W_Weld_Op2). Nested under each interference
volume are the swept volumes whose overlap created the interference volume. Nested under
each swept volume is the robot and its operation/program whose simulation created the swept
volume. Nested under each operation, are the names of the entry and exit locations calculated by
the command.

Note
• After adding interference volumes, the Interference Volume Query window adds notes to the
display in the Graphic Viewer. The notes remain as long as the interferences volumes are listed in
the query and the query remains open.
• If you add an interference volume calculated by Interference Volume (and not by Automatic
Interference), the query displays all the above information excepting the entry and exit
locations - these are unknown as long as no simulation was run.

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 Configuring your system for Automatic Interference

3. Click to highlight the query results in the Graphic Viewer.

For the interference volume in scope, the system colors the interference volume in red, the first swept
volume (and its robot, operation, and notes) in yellow, and the second swept volume (and its robot,
operation, and notes) in blue. All the other interference volumes are grayed out.
4. Optionally, use any of the following icons:

- to remove entities from the Interference Volume Query window.

- to expand nodes.
- to contract nodes.
5. Click Close to exit the Interference Volume Query window.

Configuring your system for Automatic Interference

Siemens recommends the following configurations to enable optimal Automatic Interference.

The Windows paging file is used when the accumulated memory consumption of all processes exceeds the
physical RAM resources available on your computer. You can optimize the virtual memory management
of your computer by setting a large size for the paging file and preventing the system from automatically
enlarging the size of the paging file.

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 Procedure

1. Click Start, right-click Computer, and select Properties. The View basic information about your
computer window appears.
2. Click Advanced system settings.The System Properties window appears.
3. Click the Advanced tab, and in the Performance area, click Settings. The Performance Options
window appears.
4. Click the Advanced tab and set Adjust for best performance of to Programs.

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 5. Click Change.
The Virtual Memory window appears.

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Interference volume

6. Clear Automatically manage paging file size for all drives.

7. Check Custom size and set both Initial size and Maximum size to be double the size of you
computer's RAM memory. For example, if your computer has 6 GB of RAM memory installed, set
Initial size and Maximum size to 12,000 MB.
8. Click Set.
9. Restart the system as prompted.

Interference volume
The Interference Volume command creates a 3D object representing the intersection between one Swept
Volume and another. You can use the interference volume in the process planning stage to facilitate

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 Create interference volumes

positioning of robots in optimal locations. This is especially useful when robots participate in a single
process and work on the same parts, in which case, it is necessary to locate robots in close proximity.

Create interference volumes

Procedure

1. Choose Robot tab → Volumes group → Interference Volume .

The Interference Volume dialog box is displayed:

2. In Swept Volume 1 and Swept Volume 2 select swept volumes from the Graphic Viewer, Object
Viewer, or Relations Viewer.

Note
• If you selected swept volume(s) before launching the Interference Volume dialog box, Swept
Volume 1 and Swept Volume 2 are populated with the relevant names.
• If you select more than two swept volumes or objects that are not swept volumes, Swept
Volume 1 and Swept Volume 2 remain empty.

3. The system automatically populates the Name field with the names of the parents of the selected
swept volumes. You can edit the name if you wish.

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 4. Click Create.
The system calculates the intersection of the selected swept volumes. Depending on the complexity
of the swept volumes and your system resources, this may take a while (a progress bar is displayed
during the calculation). When the calculation is complete, the system creates an interference volume
and displays it in red (by default). For information on how to configure the color of interference
volumes, see the New Objects Colors field in Appearance tab tab .

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 Note
• If there is already an interference volume for the selected swept volumes, the system prompts
you to overwrite the current interference volume. A single swept volume can participate in
multiple interference volumes by pairing with different swept volumes.
• If the selected swept volume(s) is blanked, the system unblanks it.
• If the selected swept volumes do not intersect, the system creates an interference volume
without geometry (an empty interference volume) and prompts you to delete the new volume.
• If you update a swept volume, for example you increased the safety clearance for the parent
operation, you also need to create the interference volume again to reflect the change.
• Clicking Stop while the calculation is running aborts the operation.
The system rolls back any changes it has already made.

5. Optionally, you can perform any of the following:

• Rename or delete the interference volume.
• Change color, set transparency, blank/unblank the interference volume.
• Use the interference volume in the Collision Viewer Snapshot Editor.

Note
You cannot perform any of the following on interference volumes:

• Set Modeling Scope

• Placement Manipulator
• Moving, duplicating, and attaching interference volumes
• Adding kinematics and logic to interference volumes
• Load Entity Level
• Load PMI

Dummy Interference Volumes

If both the parents of an interference volume are not currently loaded in Process Simulate, the system
inserts a dummy (non-functional) interference volume. Removing the dummy enables you to delete
superfluous relations to parents and related JT files before updating the server. This situation can arise if,
for example, one parent has been deleted or was not loaded. Dummy interference volumes are displayed
with an exclamation mark overlay .

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Dummy Interference Volumes

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 Swept Volume

Swept Volume
Refer to Swept Volume.

Cycle time report

The Cycle Time Report generates an Excel report that monitors simulated robots during their process
cycle. You can see when the robot is active (moving, processing and performing value added actions) and
when it is idle. Significantly, the report also informs you why the robot is idle, for example, the robot
is waiting for a particular signal. This information not available from any other viewer. You can then try
to reduce robot idle time by changing the order of operations, repositioning robots, or any other action,
generating another report and comparing it with the earlier one. Use the Cycle Time Robot Settings
dialog to configure report contents.

Timers enable you to measure the duration of each robot action performed during the simulation,
enabling you to create more informative reports. This helps you find the points where it is possible to
reduce robot cycle time and shorten the entire simulation. Process Simulate provides the following internal
timers: MoveToLocation, WaitDevice, WeldTime, WaitTime, WaitSignal and SendSignal. Additionally, you
can configure your own user timers and assign their priority.

Note
A WaitSignal with zero duration is also included in the report.

Adding timers can assist you in understanding the report. For example, you could configure the
Robot_Inactive timer to start measuring time when a particular robot is inactive and end timing when
it becomes active.

The Cycle Time Report can be used in scenes running in Line Simulation or Standard modes.

Generate a cycle time report

Procedure

1. Choose Robot tab → Analysis group → Cycle Time Report On/Off .

2. In the Sequence Editor or Path Editor, simulate an operation. When the simulation is complete (or
paused), the system generates and displays the Cycle Time Report in an Excel sheet.
3. The system continues generating a Cycle Time Report every time a simulation is completed (or
paused). Click again to deactivate the reporting option.

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 The following figure displays an example of a Cycle Time Report.

The report contains the following:

• Reports for each simulated robot are displayed in separate tabs (named by the relevant robot) in
the Excel file.
• For CompoundEquipments with more than one robot, the robot timers are all displayed in one tab.
The tab name is the same as the CompoundEquipment name. The Robot name column in the
timer list indicates the robot that caused the event. The name of the primary robot appears in the
header together with the CompoundEquipment name.
• The last tab is called Report settings and displays the report settings, as described in To configure
cycle time report settings:.
• Each row in the report represents a significant event during the operation.
• Analyzing the report enables you to identify periods of time when the robot is inactive, to discover
the duration of the idle state, and understand the cause of inactivity.
• The Totals section of the report provides totals for robot active time (for example,
MotionToLocation) and inactive time (for example, WaitDevice) providing a useful overview of
robot activity during the operation. It also contains the weld count, indicating how many weld
locations were visited.
• The TOTALS section contains a row for the Total timers sum of the time values above it.

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 • You can make changes to the operation for example by: Changing the order of locations, repeat
the simulation, and compare the new report with the original one.
4. Save the report if you wish.

To create a user timer:

You can add custom timers (also called User Timers) to your operation so as to include them in the report
for debugging, as follows:

Procedure

1. In the Sequence Editor, select the location at which to activate the new timer and choose Robot tab
→ Operation group → Teach Pendant.
2. In the OLP Commands area, click Add → Standard Commands → RobotCycleTime → TimerOn.
The TimerOn properties dialog box is displayed.

3. Name the timer, write a meaningful description.

4. Set a priority, and click OK.By default, Process Simulate assigns a level 5 priority. A lower number
represents a higher priority. If an action runs with the same priority as that of other actions running
in parallel, the report designates them all as Active Time. If an action runs with a lower priority than
other actions running in parallel, the report designates it as Non-active time. If an action runs with a
higher priority, it is designated as Active Time while other actions running in parallel are designated
as Non-active time.
5. Right-click the location at which to deactivate the new timer and add the TimerOff OLP command.
The following Path Editor figure shows the locations where the WeldUserTimer timer has been
activated and deactivated.

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Configure cycle time report settings

The following figure displays the same Cycle Time Report where the WeldUserTimer timer has been
activated.

Configure cycle time report settings

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 Process Simulate enables you to specify which timers participate in the cycle time report and to define
priorities for the internal timers.

Procedure

1. Choose Robot tab → Analysis group → Settings for Cycle Time Report .
The Cycle Time Report Settings dialog box appears.

2. Set Ignore user timers if you do not wish to include the custom timers you configured (refer to To
Define Robotic Location Attributes) in the report.
3. Set Ignore all timer priorities if you do not wish to consider timer priorities.
The priority range is from 1 (highest priority) to 100 (lowest priority).

Note
This setting applies to both user and internal timers.

4. You can set Timer priorities for each timer in the Internal timer list. The default value is a level 5
priority.

Note
If an action runs with the same priority as that of other parallel actions, the report designates them
all as Active Time. If an action runs with a lower priority than other actions running in parallel, the
report designates it as Non-active time. If an action runs with a higher priority, it is designated as
Active Time while other actions running in parallel are designated as Non-active time.
Assigning priority to SendSignal. which has zero duration, is not relevant.

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 5. Set the Active checkbox for each internal timer to include in the report and clear the checkbox for
each timer to omit.
6. Click OK to save the settings.

Note
The last tab in the Cycle Time Report is the Report settings tab.

It displays the settings you used in the Cycle Time Report Settings dialog box to create the report.

TCP Tracker
With the TCP Tracker command, you can track the TCP frame of a specified robot during simulation in the
following scenarios:

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 TCP Tracker

• The mounted tool scenario—The tool is mounted on the robot and the part operated on is static
(placed on a work surface, held in place by a fixture, or mounted on a robot). In this case, the tracker
records the motion of the tool TCP relative to the world frame.
• The mounted workpiece scenario—The part is mounted on the robot itself (directly or indirectly) and
the robot moves the part to a tool mounted on an external device (pedestal or another robot). The
tracker records the motion of the tracked part relative to the tool TCP and attaches the resulting curve
component to this part. If the part moves during the operation, the curve moves with it.

This video demonstrates how to use the TCP Tracker.

Note
Videos are not included in PDF. To access videos, use HTML.

The command records the TCP motion as a series of curves, one series for each location of the robot
operation, and stores them under a dedicated compound object in the Curves folder under the root of the
Object Viewer.

When the tool is mounted on the robot, the system creates the following structure:

In the mounted workpiece scenario, the system creates the following structure:

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TCP Tracker

The system names each new curve <start_location>_<end_location>.

The curve compound component object is attached to the part. Whenever the operation simulation
proceeds to a location that is affixed to a different part, the command creates a new curve compound
component.

You can access and view the new objects in the Object Viewer (in this example, the TCP track object is not
attached to any object):

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 TCP Tracker

You can select a single curve by clicking it in the Object Viewer.

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TCP Tracker

In the mounted workpiece scenario, the curves are stored under the tool folder.

The TCP track is attached to the part (the mounted workpiece). Therefore, when the robot moves the part
(or the part moves for any reason), the TCP track moves with the part.

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 TCP Tracker

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TCP Tracker

Note
If there is more than one external tool, the system creates a new subfolder for each tool.

When the tool is mounted on one robot and the part mounted on another robot, the component curve is
attached to the part and moves with the part when the part-bearing robot moves the part.

The TCP Tracker is sensitive to any type of robot motion, for example, movement during robot simulation
or as a result of Robot Jog.

Note
• Curves created by motion towards via locations that are followed by weld locations are attached to
the same part as that to which the weld locations are attached. However, curves created by motion
towards other via locations remain in the world frame and are unattached.
• There can be multiple curves for any robot motion. You create new curves when:
◦ You pause and restart TCP tracking.
◦ You change the simulation direction.
◦ The curve intersects itself.
• TCP tracking cannot be run when:
◦ You run a simulation in the background, for example, when you run a segment simulation. See
Path Editor.
◦ You reset a simulation.

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 Run the TCP Tracker

Run the TCP Tracker

Procedure

1. Choose Robot tab → Analysis group → TCP Tracker or right-click a robot and select TCP Tracker.
The TCP Tracker toolbar is displayed.

TCP tracking mode is immediately active when the TCP Tracker toolbar opens and as a result the
system creates a TCP tracking curve as the robot or part moves.

2. Click and select a color from the palette. The system creates the TCP track in the selected color
from this point forward. Existing TCP tracks retain their original color.

3. Click the Pause button to pause recording. The Record button replaces the Pause button

. You can now move the robot to a new location without creating a TCP track.

4. Click to resume recording of the robot TCP track when the robot moves. The Pause button
replaces the Record button.

5. Click to end the recording. The toolbar disappears.

Activate TCP Tracker via OLP command

You can activate (and deactivate) TCP tracking mode during a simulation by adding an OLP command to
the robot controller. Refer to Teach Pendant.

Defining guns for mounted workpiece operations

When a default gun is defined for a mounted workpiece operation, that gun is used at all the operation
locations during TCP tracking unless otherwise specified in the Remote Tcp column of the Path Editor.

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Defining guns for mounted workpiece operations

If no default gun is defined for the operation, then for the purpose of TCP tracking you must define a
remote gun TCP for each location. You should attach the remote TCP frame directly to the gun it represents
or the simulation ignores it.

If you do not define a remote gun TCP for a location, the system does not create a curve for the motion
towards that location.

If you have defined the guns as tools (refer to Tool Definition), set the relevant Work Tool cell for each
operation location in the Path Editor.

Alternatively, you can enter the name of the gun itself (as opposed to the gun TCP) in the Active Gun cell
in the Path Editor.

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 Realtime Robotics

If there are multiple gun definitions, the system uses a definition according to the following order of
priority: Work Tool, Active Gun, Remote TCP, the operation's default gun.

Realtime Robotics

Realtime Robotics is a third-party solution for robot motion planning. You can integrate the Realtime
Robotics solution into your Process Simulate data to save planning time for robot motion. The Realtime
Robotics algorithm becomes responsible for path planning and assists in planning collision-free robot
paths.

The following is the workflow for running Realtime Robotics.

Procedure

1. Export operations together with relevant resources and parts in your data to Realtime Robotics.
2. Configure the robots in your study to run with Realtime Robotics.
3. Run the Realtime Robotics simulation.

Note
• As Realtime Robotics controls the robot itself, at each location, it releases control of the robot,
Process Simulate performs any required external axis actions (for example, a weld), and returns
control to Realtime Robotics.
• If a location has moved for any reason after you export the data, Realtime Robotics brings the
robot to the location's previous position. At this point, Process Simulate moves the robot to the
updated position and performs the required action, and returns control to Realtime Robotics.
As control is regained at a position different to the position where it was released, an error may
occur.
• You can also refer to the Realtime Robotics Online User Guide.

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Export data to Realtime Robotics

4. Optionally, you can run the Realtime Robotics Recorder to convert the path detected by Realtime
Robotics into a Process Simulate operation, complete with multiple locations. You can then edit and
manipulate the operation as desired, save it, and download the final program to your robot on the
shop floor.

Export data to Realtime Robotics

Procedure

1. Choose Robot tab → Realtime Robotics group → Realtime Robotics and select Export for Realtime

Robotics .

2. By default, the Project name is set to the name of the current Process Simulate project and is used as
the name for the Realtime Robotics project being created. Modify this name as appropriate.
3. Set IP/Hostname to the IP address or name of the host computer on which Realtime Robotics is
running.

Note
If Realtime Robotics is running on the same Windows machine as Process Simulate (Windows
Subsystem for Linux (WSL)), the IP address is automatically set.

4. Configure Content to export, as follows:

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 Configure Realtime Robotics settings

• Set Segment time. This is the maximum planning time allowed for motion from one weld location
to the next.
• Pick operations and/or compound operations from the Object Viewer and select the relevant
destinations for robot motion. Click to add the selected objects to the Operations list.
The progress bar at the bottom of the dialog box monitors the upload.

Note
Weld, Pick and Place, and Generic Robotic operations are supported.

• If any of the data is not ready for export, an error message is displayed in the Status area.

Note
All the parts and resources currently visible in the Graphic Viewer are exported together with the
data in the Operations list. Therefore, to reduce the size of the data exported, hide any items not
relevant to motion planning before confirming the export.

5. Click Export.
After launching Export Process Simulate sends the data to the RTR machine, and then displays the
Planning Status bar to keep you updated about the export status.

Export has concluded after 100% displays in the progress bar, with a success (or failure) message. If
there are errors, Process Simulate provides the relevant information in the message.

Configure Realtime Robotics settings

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 After exporting data from Process Simulate and importing it to Realtime Robotics, you must configure
robots in the study to communicate with Realtime Robotics.

Procedure

1. Choose Robot tab → Realtime Robotics group → Realtime Robotics and select Realtime Robotics

Settings .

2. Set the following connection parameters:

• IP/Hostname—Set the IP address or name of the host computer on which Realtime Robotics is
running.
• Project Name—Select the relevant Project Name from the list of projects installed in Realtime
Robotics.
3. Set the Command Port and Data Port for each robot. These parameters specify the ports on the
Realtime Robotics host computer for command and data transfer. These are automatically populated.

4. Click Advanced Options to add the Timeout parameter to the display. This specifies the timeout
period in seconds after which the system aborts if it cannot find a collision-free path. This is useful,
for example, if a robot is permanently interfering.

5. Click Connect . While the robot connections are being created, the Status is set to Connecting.

When the connections are established, the status becomes Connected or Controlled.

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 When running a simulation, the status changes from Connected (to Realtime Robotics but the
robot is controlled by Process Simulate) to Controlled (by Realtime Robotics) and only returns to
Connected when you reset the simulation.

If necessary, click Clear Faults. This executes a call to RTR that attempts to recover any faults on
the controller side.

The Controller tab of the Robot Properties dialog box also shows that the robot is Connected to RTR.

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Playing the Realtime Robotics simulation

Playing the Realtime Robotics simulation

When you play the Realtime Robotics simulation in the Sequence Editor or Path Editor:

• Process Simulate informs Realtime Robotics of the required destination.

• Realtime Robotics calculates the path and updates Process Simulate.
• Process Simulate moves the robot to the destination along the specified path.

Note
The path calculated by Realtime Robotics between two given locations need not necessarily be
identical on every occasion it is calculated. This is because Realtime Robotics takes into account

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 Playing the Realtime Robotics simulation

variables not directly connected to the path itself. For example, the poses of the other robots in the
study.

• Process Simulate sends relevant messages to the Simulation Monitor.

However, when the robot has successfully completed the operation and the simulation is over, no record of
the path detected by Realtime Robotics is retained in Process Simulate. For information on how to convert
the Realtime Robotics path to a Process Simulate operation, refer to Realtime Robotics Recorder.

Note
The robot's external joints of the Servo gun are exchanged with RTR, allowing RTR to consider opening
and closing of guns in the path creation. During simulation, the gun closes according to the external axis
values defined on the location. This is only supported for guns that do not have dependent joints (i.e.,
joints without functions or following joints).

Troubleshooting

If Realtime Robotics reports an error (in the relevant robot tab in the Simulation Monitor):

• Reset the simulation in Process Simulate. This clears many errors.

• OR Attempt to clear faults using (from the Realtime Robotics Settings dialog)

If these do not resolve the issue:

• Disconnect the robot using and then reconnect it by clicking the same icon again.

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Realtime Robotics recorder

Realtime Robotics recorder

In order to retain a permanent record of the collison-free path detected by the Realtime Robotics toolkit,
you must save the calculated path as part of the operation. The Process Simulate Realtime Robotics
Recorder does this by running the simulation, sampling the robot's position during the simulation, saving
the location at each sampling point, and inserting via locations between the original operation locations.
You can then simulate the new collision-free operation without connecting to the RTR controller, modify
the operation (if necessary), and download it to the robot.

Procedure

1. Click Connect to Realtime Robotics Controller .The Realtime Robotics Path Recorder is
enabled.

2. Click Realtime Robotics Path Recorder .

Or
Choose Robot tab → Realtime Robotics group → Realtime Robotics and click Realtime Robotics
Path Recorder.
The Recording started message appears.

3. Set the operation scope for simulation.

4. Run the simulation.All the operations nested under this scope run. The recorder creates collision-free
paths for each one.

5. Click Realtime Robotics Path Recorder to deactivate the recorder.

The Recording stopped message appears.

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 In the following example, the scope was Robot1 and the original operation was Path. The recorder created
the collision-free path Path_RTR_Record and nested it under the scope.

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 The recorder inserted via locations between the original path locations to make sure the new path is free
of collisions.

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 Set Current Operation

10. Operation
Set Current Operation

The Set Current Operation option designates a selected operation as the current operation. In order to
simulate an operation, it must be set as the current operation.

Note
All operations are displayed in the Object Viewer.

• Select the required operation in the Object Viewer and choose Operation tab → Create Operation
group → Set Current Operation .or
• Choose Home tab → Operation group → Set Current Operation .

Note
Loading a study in Line Simulation mode automatically sets the Line Operation as the current operation
(the operation created below the operation root in the Object Viewer). As a result the Sequence Editor is
automatically loaded.

New operation commands

New Compound Operation

The New Compound Operation option enables you to create a new compound operation. A compound
operation is an operation that is comprised of other operations, and can also include other compound
operations.

A compound operation can also be referred to as a sequence of operations. A compound operation can
include different types of operations for example, an object flow operation such as moving a cupboard,
and a device operation, such as opening the doors of the cupboard.

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 Procedure

1. Choose Operation tab → Create Operation group → New Operation → New Compound Operation
.
or
Choose Home tab → Operation group → New Compound Operation .
The New Compound Operation dialog box is displayed.

Note
The command is enabled if no objects have been selected or if a single compound operation is
selected.

2. In the Name field, enter a name for the operation. By default, all compound operations are uniquely
named CompOp<index number>. You can overwrite this name, if you wish.
3. Click the Scope dropdown list to select an operation to be the parent for the New Compound
Operation or click in the Graphic Viewer, Object Viewer, Sequence Editor, or Path Editor.

Note
If you select an operation prior to invoking the New Compound Operation command, that
operation is automatically inserted as the Scope.

4. Click OK. An empty new compound operation is created and displayed in the Object Viewer. The
new compound operation is automatically set as the current operation (if a current operation does
not already exist) and is therefore displayed in the Sequence Editor.
5. In the Object Viewer, drag the operations you want to include in the compound operation to the
new compound operation in the Object Viewer or the Sequence Editor.

You can link operations as well as add events to them, as described in Sequence Editor.

New Non-Sim Operation

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 The New Non-Sim Operation option enables you to create a non-simulated operation. A non-simulated
operation is an empty operation that you can use to mark a specified time interval before continuing with
another operation. Alternatively, you can use a non-simulated operation to mark the place of an operation
which will be created later.

Procedure

1. Choose Operation tab → Create Operation group → New Operation → New Non-Sim Operation .
The New Non Sim Operation dialog box is displayed.

2. In the Name field, enter a name for the operation. By default, all new non-simulated operations are
named Op#. You can overwrite this name, if you wish.
3. Click the Scope dropdown list to select an operation to be the parent for the New Non-Sim Operation
or click the operation in the Object Viewer.

Note
If you select an operation prior to invoking the New Non-Sim Operation command, that operation
is automatically inserted as the Scope.

4. In the Description field, enter a description for the operation.

Note
You are not required to enter a description. However, if a description is entered into the Description
field, it will appear in the Operation Properties dialog box.

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New Object Flow Operation

5. In the Duration field, modify the duration time for the operation by using the up and down arrows or
by typing in the required time.

Note
By default, the duration time is five seconds. If required, you can change the unit of measurement
in Units tab.

6. Click OK. A new non-simulated operation is created and displayed in the Object Viewer. The new
operation is automatically set as the current operation (if a current operation does not already exist).

New Object Flow Operation

The New Object Flow Operation option enables you to create an operation that moves an object from
one place to another. This operation is used primarily to move parts in an assembly for assembly studies.

You can create an object flow operation either by using an existing path or by creating a new path.

Procedure

1. Select an object, either in the Graphic Viewer or the Object Viewer, and choose Operation tab →
Create Operation group → New Operation → New Object Flow Operation .
or
Choose Home tab → Operation group → New Object Flow Operation .
The New Object Flow Operation dialog box is displayed, with the name of the selected object in the
Object field.

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 Note
Alternatively, you can select New Object Flow Operation to display the New Object Flow
Operation dialog box, click in the Object field, and select the required object in the Graphic
Viewer or the Object Viewer.

You can select a prototype as the object for the flow operation. If you create a flow operation to
simulate a prototype, the flow operation is created under an activity that belongs to the operation for
which the prototype was made available.
2. In the Name field, enter a name for the operation. By default, all new object flow operations are
named Op#. You can overwrite this name, if you wish.
3. Click the Scope dropdown list to select an operation to be the parent for the New Object Flow
Operation or click the operation in the Object Viewer.

Note
If you select an activity prior to invoking the New Object Flow Operation command, that
operation is automatically inserted as the Scope.

4. Select the path for the operation in one of the following ways:
• To create a new object flow path, select Create Object Flow Path, and then specify the start and
end points by clicking in the Start Point/End Point fields and selecting the location where you
want the path to begin/end.
• Select a location in the Graphic Viewer.

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 Note
By default, the current location of the object selected is the Start Point.

A location is created at the specified points and displayed in the Graphic Viewer.
• To use an existing path, select Use Existing Path, and then select a path from the Path dropdown
list, or in the Graphic Viewer or the Object Viewer.

5. To specify further details for the object flow operation, click the Expand button.
The New Object Flow Operation dialog box is expanded.

6. In the Description field, enter a description for the operation.

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 New Device Operation

Note
You are not required to enter a description. However, if a description is entered into the Description
field, it will appear in the Operation Properties dialog box.

7. Select a Grip Frame for the selected object in one of the following ways:
• Geometric center of the object selected. This is the default setting.
• The study's Working Frame.
• Self. The grip frame is superimposed on the object's self frame. In this case, the grip frame is not
required and is omitted.
• Specify an exact location for the grip frame by clicking the dropdown arrow next to the Frame

of Reference button and specifying the exact location of the frame using one of the four
methods available.
The selected grip frame is created and displayed in the Graphic Viewer and under the assembly in the
Object Viewer.
8. In the Duration field, modify the duration time for the operation by either using the up and down
arrows or by typing in the required time.By default, the duration time is five seconds. If required, you
can change the unit of measurement in Units tab.
9. Click OK.
The following occurs:
• A path is created between the specified start and end points, and displayed in the Graphic Viewer.
• An object flow operation is created along the path and displayed in the Object Viewer. The new
operation is automatically set as the current operation (if a current operation does not already
exist), and is therefore displayed in the Sequence Editor and the Path Editor. In all three places,
each location along the path is displayed as a child of the operation.
If a prototype is assigned to more than one compound operation, it is listed in the Graphic Viewer
and Object Viewer, once for each operation to which it is assigned.

New Device Operation

The New Device Operation option enables you to create a device operation, which moves a device from
one pose to another pose. A device is a component with kinematics defined for example, a cupboard with
doors that open. Once a device has been defined, you can define poses for the device. A pose is a set of
joint values that represents a position of the device. In order to create a device operation, you must work
with a device that has several poses defined. For information on poses, refer to Pose Editor.

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 Procedure

1. Choose Operation tab → Create Operation group → New Operation → New Device Operation .
The New Device Operation dialog box is displayed, with the name of the selected object in the
Object field.

Note
Alternatively, you can select New Device Operation to display the New Device Operation dialog
box, click in the Device field, and select the required object in the Graphic Viewer or the Object
Viewer.
You can select a prototype as the device for the device operation. The system names the prototype
with the name of a compound operation (in parentheses) to indicate that the prototype was made
available to that compound operation through Process Designer. If you create a device operation to
simulate a prototype, the system creates the device operation under the compound operation for
which the prototype was made available.

2. In the Name field, enter a name for the operation. By default, all new device operations are named
Op#. You can overwrite this name, if you wish.
3. Click the Scope dropdown list to select an operation to be the parent for the New Device Operation or
click the operation in the Object Viewer.

Note
If you select an activity prior to invoking the New Device Operation command, that operation is
automatically inserted as the Scope.

4. From the From pose dropdown list, select the start pose for the device.

Note
All devices have a HOME pose. This is the default start pose for a device operation.

5. From the To pose dropdown list, select the final pose for the device.

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 New Gripper Operation

6. To specify further details for the device operation, click the Expand button.
The New Device Operation dialog box is expanded.

7. In the Description field, enter a description for the operation.

Note
You are not required to enter a description. However, if a description is entered into the Description
field, it will appear in the Operation Properties dialog box.

8. In the Duration field, modify the duration time for the operation by either using the up and down
arrows or by typing in the required time.By default, the duration time is five seconds. If required, you
can change the unit of measurement in Units tab.
9. Click OK.
A device operation is created along the path and displayed in the Object Viewer. The new operation is
automatically set as the current operation (if a current operation does not already exist).

Note
When a pose is edited, the device operation using that pose is updated automatically.

New Gripper Operation

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 The New Gripper Operation option enables you to create an operation involving a gripping device. The
gripper can perform two actions - it can grip objects and it can release them. For each of these actions, a
target pose must be defined when defining the gripper.

Procedure

1. Select a gripper, either in the Graphic Viewer or the Path Editor, and then choose Operation tab →

Create Operation group → New Operation → New Gripper Operation .

Or

Choose Home tab → Operation group → New Gripper Operation .

The New Gripper Operation dialog box is displayed with the name of the selected gripper in the
Gripper field.

You can select a prototype as the gripper for the gripper operation. The system names the prototype
with the name of an operation (in parentheses). This indicates that the prototype was made available
to the operation through Teamcenter. If you create a gripper operation to simulate a prototype, the
system creates this operation under the activity that belongs to the operation for which the prototype
was made available.
2. In the Name field, enter a name for the operation. By default, all new gripper operations are named
Op#. You can overwrite this name, if you wish.

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 3. Click the Scope dropdown list to select an operation to be the parent for the New Gripper Operation
or click the operation in the Object Viewer.

Note
If you select an operation prior to invoking the New Gripper Operation command, that operation
is automatically inserted as the Scope.

4. From the Frame dropdown list, select the frame to use as the TCP for the gripper operation.
5. Select one of the following actions to be performed:
• Grip objects
• Release objects
6. From the Target Pose dropdown list, select the pose of the gripper when the action is performed.
7. To specify further details for the gripper operation, click the Expand button.

8. In the Description field, enter a description for the operation.

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New Weld Operation

9. In the Duration field, modify the duration time for the operation by using the up and down arrows or
by typing in the required time.

Note
If the time specified is less than the minimum time required for the movement (specified when
defining kinematics), the time is adjusted automatically to the minimum time required when the
operation is run. By default, the duration time is five seconds. If required, you can change the unit
of measurement in Units tab.

10. Click OK. A new gripper operation is created and displayed in the Object Viewer. The new operation
is automatically set as the current operation (if a current operation does not already exist) and is
therefore displayed in the Sequence Editor.

New Weld Operation

The New Weld Operation option enables you to create a weld operation, which is a group of weld
location operations. A weld operation can involve either:

• Moving a robot with a mounted weld gun to the weld locations on the workpiece.
• Moving a robot with a mounted workpiece to an external weld gun (external TCP).

Note
Ensure that the robot can reach the weld locations before creating the weld location operation. Refer to
Jump to Location.

Procedure

1. Select a robot, either in the Graphic Viewer or the Object Viewer, and then choose Home tab →
Operation group → New Weld Operation .
or
Choose Operation tab → Create Operation group → New Operation → New Weld Operation .
The New Weld Operation dialog box is displayed.

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 The names of both the selected robot and the gun mounted on it are displayed automatically in the
Robot and Gun fields.

Note
Alternatively, you can select New Weld Operation to display the New Weld Operation dialog box,
and then click in the Robot field and select the required robot in the Graphic Viewer or Object
Viewer. (The cursor changes to a when selecting robots in the Graphic Viewer.

2. In the Name field, enter a name for the operation. By default, all weld operations are named
Weld_Op#. You can overwrite this name, if you wish.
3. Select the weld Type of operation. This option is available only when nesting the new weld operation
under the Teamcenter weld process and is only supported when running Process Simulate under
Teamcenter version 9 (or higher).
4. Click the Scope dropdown list to select an operation to be the parent for the New Weld Operation or
click the process or operation in the Object Viewer.

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 Note
If you select an operation prior to invoking the New Weld Operation command, that operation is
automatically inserted as the Scope.

5. If the operation is an external TCP, select the External TCP checkbox.

6. In the Welds List area, select the targets for the selected robots (the weld locations that you want to
weld in the simulation). You can do this by selecting weld locations either in the Graphic Viewer or
the Object Viewer.

Tip
You can select multiple weld locations in the Graphic Viewer by dragging a selection box around
the required weld locations.

7. Using the up and down arrows, arrange the weld locations in the Welding List area in the order that
you want the robot to perform the welding simulation.
8. To specify further details for the operation, click the Expand button.
The New Weld Operation dialog box is expanded.

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 9. In the Description field, enter a description for the operation, if required.

Note
• The Duration field displays the duration of the weld operation. You cannot modify this field. This
is a combination of the duration times of each of the weld location operations that make up the
weld operation.

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New Continuous Feature Operation

10. Click OK. A new weld location operation is created and displayed in the Object Viewer. The new
operation is automatically set as the current operation (if a current operation does not already exist).
You can see the individual weld location operations that make up the weld operation in the Gantt
Chart area of the Sequence Editor.

New Continuous Feature Operation

The New Continuous Feature Operation command enables you to create a new continuous feature
operation. Continuous feature operations include laser welding and continuous glue applications.

A continuous feature operation consists of a group of continuous MFG operations. The continuous
operation can do one of the following:

• Move a robot with a mounted tool to MFG locations on the workpiece.

• Move a robot with a mounted workpiece to an external tool (external TCP).

Note
Verify that the robot can reach the continuous MFG locations before creating the continuous robotic
operation. For more information, refer to Jump to Location.

Procedure

1. Choose Home tab → Operation group → New Continuous Feature Operation .

or
Choose Operation tab → Create Operation group → New Operation → New Continuous Feature
Operation .
The New Continuous Feature Operation dialog box appears.

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 The default continuous operation name, Cont_Robotic_Op, appears in the Name field.
2. In the Name field, enter a name for the operation.
3. Select the continuous Type of operation. This option is available only when nesting the new
continuous feature operation under the Teamcenter continuous process and is only supported when
running Process Simulate under Teamcenter Release 9 (or higher).
4. Assign a robot to the new operation as follows:
a. Click the Robot field to place the field in focus.
b. Click a robot in any viewer displaying robots.
The robot name appears in the Robot field.
5. Select a tool for the new operation as follows:
a. Click the Tool field to place the field in focus.
b. Click a tool in any viewer displaying tools.

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 The tool name appears in the Tool field.
6. Click the Scope dropdown list to select an operation to be the parent for the New Cont. Feature
Operation or click the operation in the Object Viewer.

Note
If you select a compound operation prior to invoking the New Continuous Feature Operation
command, that operation is automatically inserted as the Scope.

7. Select continuous MFGs to include in the operation as follows:

a. Click the Continuous MFGs field to place the field in focus.
b. Click one or more continuous MFGs in the MFG Viewer.
The MFG names appear in the Continuous MFGs field.

c. You can arrange the order of the MFGs in the Continuous MFGs field using the and
buttons. The order of the MFGs in the list determines the order of execution in the new
operation.
8. If the operation is an external TCP, select the External TCP checkbox.
9. You can click the Expand button to display an extension of the New Continuous Feature
Operation dialog box, containing an optional Description field. Enter a description for the operation,
if required.

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 The extended dialog box includes a read-only Duration field, displaying the sum of the duration times
of the MFG's included in the Continuous MFG's field.
10. Click OK to create a new continuous feature operation.
The following occurs:
• The operation appears in the Object Viewer and the Sequence Editor.

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New Pick and Place Operation

• The individual MFG operations that make up the continuous feature operation appear in the
Gantt Chart area of the Sequence Editor.
• The new operation is automatically set as the current operation (if a current operation does not
already exist).

Note
You can edit the properties of the new continuous feature operation in the Operation Properties
dialog box.

New Pick and Place Operation

The New Pick and Place Operation option enables you to move an object from one place to another
place.

Procedure

1. Select an object, either in the Graphic Viewer or the Object Viewer and then choose Operation tab

→ Create Operation group → New Operation → New Pick and Place Operation .
or

Choose Home tab → Operation group → New Pick and Place Operation .
The New Pick and Place Operation dialog box is displayed with the name of the selected object in
the Name field.

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 2. From Robot, select the robot to use for moving the object. If you preselected a robot before launching
the command, this field is populated with the name of the selected robot.
3. The Gripper list is automatically populated with all the grippers currently mounted on the selected
robot. The first gripper is selected — change this, if you wish.
4. Click the Scope dropdown list to select an operation to be Object Viewer to be the parent for the
New Pick and Place Operation.

Note
If you select an operation prior to invoking the New Pick and Place Operation command, that
operation is automatically inserted as the Scope.

5. Select the path for the operation in one of the following ways:

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 • To define a new path, select Define Pick and Place Points, and then specify the start and end
points by clicking in the Pick and the Place fields and selecting the location where you want to pick
up the part, and where you want to place the part, in one of the following ways:
◦ Select a location in the Graphic Viewer.
◦ Select an object in the Object Viewer.

◦ Click the dropdown arrow next to the Frame of Reference button and specify the exact
coordinates of the location using one of the four methods available. Refer to Create Frame for
more details.
A location is created at the specified points and displayed in the Graphic Viewer.

Note
If you select both Pick and Place points, the new operation has Pick and Place locations.

If you select only a Pick or only a Place point, the new operation will have only a Pick or only a
Place location.

• To use an existing path, select Use Existing Path, and then select a path from the Path dropdown
list, the Graphic Viewer or the Object Viewer.
Specify the offset for the gripper by selecting Use Grip Frame and then specifying an exact
location for the selected frame by clicking the dropdown arrow next to the Frame of Reference

button and specifying the exact location of the frame using one of the four methods
available. Refer to Create Frame for more details. The selected Grip frame is created and displayed
in the Graphic Viewer and under the assembly in the Object Viewer.

Note
The system duplicates the path and turns the object flow path into a path that is used by the
robots.

6. In the Description field, enter a description for the operation.

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 7. To specify further details for the operation, click the Expand button.
The New Pick and Place Operation dialog box is expanded.

8. In the Duration field, modify the duration time for the operation by entering the required time.
9. Click OK.

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New Generic Robotic Operation

The following occurs:

• A path is created between the specified pick and place points, and displayed in the Graphic Viewer.

Note
A pick and place operation is created along the path and displayed in the Object Viewer. The new
operation is automatically set as the current operation (if a current operation does not already
exist), and is therefore displayed in the Sequence Editor and the Path Editor. In all three places,
each location along the path is displayed as a child of the operation.

Note
You can edit the path of a New Pick and Place operation when the operation is set as the current
operation.

New Generic Robotic Operation

The New Generic Robotic Operation option enables you to create a robotic operation for general use.

Procedure

1. Choose Operation tab → Create Operation group → New Operation → New Generic Robotic
Operation .
The New Generic Robotic Operation dialog box is displayed showing the Name field populated with
the default operation name.

2. From the Robot list, select the robot to assign to the new operation. If you preselected a robot before
launching the command, this field is populated with the name of the selected robot.

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 New/Edit Concurrent Robotic Operation

3. From the Tool list, select a tool to mount on the robot. This list is populated automatically if the
selected robot has mounted tools.
4. Click the Scope list and set an operation to be the parent for the new operation.

Note
If you select a compound operation prior to invoking the New Generic Robotic Operation
command, that operation is automatically inserted as the Scope.

5. Optionally, click to expand the New Generic Robotic Operation dialog box and set the
following:
• Type a meaningful Description for the new operation.
• Set the Duration of the new operation.
6. Click OK to save the new operation and close the New Generic Robotic Operation dialog box.

New/Edit Concurrent Robotic Operation

The New/Edit Concurrent Robotic Operation option enables you to group multiple operations together to
be performed by a multi-arm robot or cooperative robots. Robots can work in one of the following motion
modes: Synchronized, Asynchronous, Cooperative, or Load sharing.

Procedure

1. Choose Operation tab → Create Operation group → New Operation → New/Edit Concurrent
Robotic Operation .
The New Concurrent Robotic Operation dialog box shows the Name field populated with the
default operation name.

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 Note
If you selected an existing concurrent robotic operation before launching the command, the Edit
Concurrent Robotic Operation dialog box is displayed and is populated with all the parameters of
the selected concurrent robotic operation.

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 You can then edit any of the operation parameters except Type and Scope.

2. From the Equipment list, select a robot to assign to the new operation. The robot must be defined as
an Equipment and have at least two other robots nested under it, as described in .

Note
If you preselected a robot before launching the command, the Equipment field is populated with
the name of the selected robot.

3. From the Type list, select one of the following motion modes:
• Synchronized—All the robots participating in the concurrent operation start and end each
operation segment at the same time (they are all synchronized with the slowest robot) but there
are no geometrical constraints between the robot paths. This mode can be used, for example, to
move two robot arms in parallel in order to reach a part at the same time. All the robot paths must
have the same number of motion segments for the simulation to run correctly.
• Asynchronous—You can add any number of operations to any of the robots. All the robots begin
their initial operations concurrently and then run all of their allocated operations independently to
completion.
• Cooperative—All the robots participating in the concurrent operation start and end each
operation segment at the same time, just like a synchronized operation. However, the TCP of
the robot defined as the follower robot is also linked to the leader robot's TCP and in addition to
following its own path, the follower robot’s TCP also tracks the leader robot’s path.
One robot is defined as the leader robot, and the other as a follower that works in the leader
robot’s coordinate system. All the robot paths must have the same number of motion segments
for the simulation to run correctly because In this mode, the robots are also synchronized. For
example, the leader robot can carry a part, while the follower tracks the leader and performs
welding on the part as it moves to its destination. The follower dictates the motion constraints, for
example, speed and acceleration.
• Load Sharing—The leader robot executes its program and the follower robots track the leader
robot’s TCPF. For example, two robots might move a part together.
4. Click the Scope list and set the Teamcenter Operation/Compound Operation to be the parent for
the new operation.

Note
If you select a Teamcenter Operation/Compound Operation prior to invoking the New
Concurrent Robotic Operation command, that operation is automatically inserted as the Scope.

5. In the Referenced operations area, proceed as follows:

• If you had set Type to Synchronized, the Referenced operations area appears.

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 Click the first Operations cell and pick an operation. The relevant Robots cell is automatically
populated with the name of the robot assigned to a descendant of the robot equipment. Repeat
this until you have selected all the required operations.
• If you had set Type to Asynchronous, the Referenced operations area appears.

Click the first Operations cell and pick operations for all the robots. The relevant Robots cell is
automatically populated with the name of the robot assigned to the relevant operation. Repeat this
until you have selected all the required operations for all the robots. After selecting the operations,
set the order of the operations using the arrow buttons on the right.
• If you had set Type to Cooperative, the Referenced operations area appears.

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 Pick a Leader operation and then a Follower operation.
• If you had set Type to Load Sharing, the Referenced operations area appears.

Pick a Leader operation and then Follower robots.

6. Click OK to save the new operation and close the New Concurrent Robotic Operation dialog box.
The new concurrent robotic operation is displayed in the Object Viewer

7. You can also click a concurrent operation and access the Relations Viewer to view details of the
selected concurrent operation, according to its motion type:

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 • Synchronized—The Resources node shows the dual arm robot and both its robot devices; the
Referenced Operations node contains the operations performed by each robot, and the Motion
Segments node contains location pairs (for example, via, via3): for each pair of locations, the first
location (via) is for the first robot and the second location (via3) is for the second robot.

• Asynchronous—The Resources node shows the dual arm robot and the robot to which the
selected operation is assigned, and the Referenced Operations node lists all the operations
performed by the assigned robot.

Each robot executes its assigned operations in the order shown in the Relations Viewer,
independently of the other robots.

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 • Cooperative—The Resources node shows the dual arm robot, its leader robot, and its follower
robot; the Referenced Operations node contains the operations performed by both the leader and
follower robots, and the Motion Segments node contains the locations of the leader and follower
robots listed as location pairs.

• Load Sharing—The Resources node shows the dual arm robot, its leader robot, and its follower
robot; the Referenced Operations node contains the operations performed by the leader robot
(the follower robot tracks the leader robot but does not have its own operation), and the Motion
Segments node contains the locations of the leader robot.

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New Robotic Program

Note
In Synchronized and Cooperative operations, the number of locations in the referenced
operations must be equal. If this is not the case, the Relations Viewer indicates a mismatch.

The mismatched locations are at the end of the operation and are ignored.

New Robotic Program

The New Robotic Program command appears in the toolbar of the Program Inventory dialog box and in
the Program group of the Robot tab.

Procedure

1. Click in the Program Inventory dialog box or choose Robot tab → Program group → New

Robotic Program .
or

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 Create Posture Operation

Choose Operation tab → Create Operation group → New Operation → New Robotic Operation

.
The New Robotic Program dialog box is displayed.

2. Enter a name for the new program in the Name field.

3. In the Robot dropdown list, select the robot on which the new program operates or select the robot
from the Graphic Viewer or Object Viewer.
4. You can add a comment in the optional Comment field.
5. Click OK to close the New Robotic Program dialog box. The new robotic program appears in the
Program Inventory dialog box.

Create Posture Operation

The Create Posture Operation option enables you to create a pose operation that moves a human model
into a specified posture.

You can save a particular posture as a pose operation at any time. This is useful when you have changed
the posture of a human model using the Man Jog option (described in Human Posturing). Saving a
posture as a pose operation enables you to move a human model into a specific posture, for example,
changing the posture of a human model to assume the exact pose used in a working environment when
performing tasks. This is especially helpful when designing the workspace for the human model, which is
intended to maximize productivity by minimizing operator fatigue and discomfort.

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 Procedure

1. Select the human model whose posture you want to save in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Simulate group → Create Posture Operation .

or
Choose Operation tab → Create Operation group → New Operation → Create Posture Operation
.
The Operation Scope dialog box is displayed.

3. Enter a name for the operation in the Name field.

4. Select the parent operation from the Scope list.
5. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer and you can
run it after setting it as the current operation.

Note
By default, all pose operations are named Pose.

You can now move a human model to the saved posture by running the pose operation.

Continuous Process Generator

The Continuous Process Generator tool enables you to create a continuous operation composed of
nested seam operations (for example, to perform arc welding of two parts) based on a selection of faces.
The tool also:

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 • Provides support for Arc skip welding (or stitch welding) where the seam operation is composed of
welds separated by spaces (similar to a dashed line).
• Enables you to create a Coverage Pattern operation with fixed intervals for use in coating applications.
• Enables you to create an Adhesive process, where you simply pick points on the surface.

After selecting the faces and the required parameters, the command automatically performs all of the
following:

• Previews one or more paths (preview seams) for the Mfgs to be created (and used in the projection
calculations).
• Creates new continuous Mfgs for each seam.
• Sets the Mfg type.
• Assigns the Mfg to the part of the first face.
• Creates a new continuous feature operation or appends seam operations and assigned Mfgs to an
existing continuous feature operation.
• Assigns the continuous Mfgs to the new or existing continuous feature operation.
• Creates new seam operations for each continuous Mfg and nests them under the new or existing
continuous operation with the correct face definitions. The system defines which faces belong to each
seam operation.
• If there is a single robot in the loaded data, or if user has selected a robot in the dialog box, the
command assigns this robot and its mounted tool to the operation.

Note
When running in disconnected mode, you can only create private Mfgs of types previously defined using
the Teamcenter Mapping Configuration Tool while connected to the Teamcenter server, for example,
mapping file definition for the private MFGs types (in MFGCreationDefintion section) should be the same
when working in connected and disconnected.

The Continuous Process Generator tool also enables you to fine-tune the selection, for example: edit the
selection (add/remove faces), change the face extension, merge curves to a single seam, define or change
start/end, skip welds and direction.

Procedure

1. Enables you to project the operation, similar to the way you use the various project commands.

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 2. Choose Process tab → Continuous group → Continuous Process Generator .
or
Choose Operation tab → Create Operation group → New Operation → Continuous Process

Generator .
or

Choose Home tab → Operation group → Continuous Process Generator .

The Continuous Process Generator dialog box appears.

Note
You can either set the Scope of the new continuous operation by pre-selecting a compound
operation before launching the Continuous Process Generator, or by changing the Scope after
opening the dialog box. In the latter case, the new continuous operation is nested under the
selected compound operation, and some of the Operation parameters (for example, the Operation
name) become read-only, as explained below.

3. From the Process dropdown list, select one of the following:

• Arc and proceed to Arc Process.
• Coverage pattern and proceed to Coverage Pattern Process.
• Adhesive and proceed to Adhesive process.

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 Operation Properties

Operation Properties

The Operation Properties option enables you to display and modify the properties of a selected operation.

Procedure

1. Right-click the required operation, either in the Object Viewer or the Sequence Editor, and then
choose Operation tab → Create Operation group → Operation Properties .

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 or

Choose Home tab → Operation group → Operation Properties .

The General tab of the Properties - <Name of Operation> dialog box is displayed.

The General tab contains the name of the operation and its type (read-only), as well as a Comments
field.
2. Select the Times tab.

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 The Times tab contains the following fields:
• Allocated time: The maximum amount of time allocated for the operation.
• Start time: The start time of the operation, relative to the compound operation of which it is a
part.
• Verified time: The actual time needed to perform the operation.
3. Select the Process tab. (The Process tab does not exist for Compound operations, which involve
multiple processes and Non-Sim operations.) The fields displayed in the tab are according to the type
of operation that was selected.
If a Flow operation was selected, the following tab is displayed:

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 The Process tab for a flow operation contains the following fields:
• Simulated object: The object being simulated.
• Grip Frame: The frame that moves along the path when the simulation is run.

Note
You may select a prototype as the object for the flow operation. Prototypes are named with the
name of a operation in parentheses. This indicates that the prototype was made available to that
operation through Teamcenter. If you create a flow operation to simulate a prototype, the flow
operation is created under the operation for which the prototype was made available. You cannot
then move the flow operation from under that operation to another position in the Objects tree.

If a Device operation was selected, the following tab is displayed:

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 The Process tab for a device operation contains the following fields:
• Simulated device: The device being simulated.
• From pose: The start pose for the device operation.

Note
All devices have a HOME pose. This is the default start pose for the device operation.

• To pose: The final pose for the device.

If a Device Control Group operation was selected, the following tab is displayed:

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 The Process tab for a Device Control Group operation contains the following fields:
• Simulated Device Control Group: The Device Control Group being simulated.
• From pose: The start pose group for the Device Control Group operation.
• To pose: The end pose group for the Device Control Group operation.
If a Weld operation was selected, the following tab is displayed:

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 The Process tab for a weld operation contains the following fields:
• Robot: The name of the selected robot.
• Gun: The name of the selected gun.
If the operation involves a mounted workpiece (external TCP), select the External TCP checkbox.
In the MFG Features area, select the targets for the selected robots (the weld locations that you
want to weld in the simulation). You can select weld locations using the Graphic Viewer, Sequence
Editor, or Object Viewer.

Tip
You can select multiple weld locations in the Graphic Viewer by dragging a selection box around
the required weld locations.

Note
You can un-assign weld points by pressing the <Del> key. After this deletion, the weld points
are nested in the location configured by Weld Location Unassignment - Place unassigned weld
locations under in Weld tab.

When you select a robot path reference operation, the Process tab is displayed:

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 The Process tab for a robot path reference operation contains the following fields:
• Robot: The name of the robot referred to by the robot path reference operation.
• Program: The name of the robotic program referred to by the robot path reference operation.
In the Path Operations area, select the path operations for the selected robotic program. You can
do this by selecting operations in the Object Viewer, the Graphic Viewer, or the Paths tab of the
Sequence Editor.
4. Select the Products tab:

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 The Products tab displays both the available and the simulated parts relevant to the selected
operation, where available parts are those that are available for use from Teamcenter, and the
simulated parts are those that are being produced. Simulated parts have a . Only one part can be
simulated at a time.
5. Add an available part to the Products list by clicking in the list and selecting the part from the Object
Viewer.
6. Remove an available or simulated part from the Products list by selecting the part and pressing
<Delete>.

Note
Use the Process tab to add or replace a simulated part.

7. Select the Resources tab:

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 The Resources tab displays both the available and the simulated resources relevant to the selected
operation, where available resources are those that are available for use from Teamcenter, and the
simulated resources are those that are actually in use during the simulated operation. Resource
examples include a robot, gun, table and trolley, and there may be more than one simulated resource
in an operation. For example, in a some operations, both the robot and the gun are simulated.
8. Add an available resource to the Resources list by selecting the resource from the Object Viewer.
9. Remove an available or simulated resource from the Resources list by selecting the resource and
pressing <Delete>.
10. For a generic robotic operation, you can click the Properties tab and edit the Robot and Tool
assigned to the operation.

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 Add Operations to Path Editor

For information on creating generic robotic operations, see New Generic Robotic Operation.
11. Edit the fields, as required, and then click OK to save your changes.
12. Select Teamcenter Update from the File menu to update Teamcenter with the new data.

Add Operations to Path Editor

Add Operations to Path Editor adds the operations currently-selected in the Object Viewer to the
Path Editor.

Right-click the required operation and choose Operation tab → Create Operation group → Add

Operations to Path Editor .

or

Choose Home tab → Operation group → Add Operations to Path Editor .

Path Editing

Add Location Before

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 Note
Deleting the last weld location from a weld operation does not cause the operation to be deleted. This
is important if, for example, you are not satisfied with the results of a Project Weld Points session and
wish to start again.

The Add Location Before option is a path editing tool that enables you to add via locations to a path
before the currently-selected location in order to avoid a collisions. The additional via locations cause the
robot to change its path of movement and to avoid the collision zone. A collision usually occurs between
the gun and the parts, or between the gun, the robot, the parts and the workstation fixtures. By adding
additional via locations, collisions are avoided, enabling the robot to complete all its tasks quickly and
efficiently.

Note
If the current selection is a seam location, the new location is created before the end of the seam.

Procedure

1. In the Graphic Viewer, select the location before which to add a via location.
2. Choose Operation tab → Add Location group → Add Location Before .
A via point is created and added before the selected location. The robot moves to the location, and
the Robot Jog dialog box is displayed.

3. Using the Robot Jog manipulator, fine-tune the position of the via location by moving the TCP frame
outside of the collision range.
4. When you are satisfied with the position of the new via location, click Close. The new via location,
which was created between two locations, is created and displayed between the two locations in the
Object Viewer. By default, all via locations are named via# (where # is an incremented number used
to create unique names).

Add Location After

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 The Add Location After option is a path editing tool that enables you to add via locations to a path after
the currently-selected location in order to avoid a collisions. The additional via locations cause the robot to
change its path of movement and to avoid the collision zone. A collision usually occurs between the gun
and the parts, or between the gun, the robot, the parts and the workstation fixtures. By adding additional
via locations, collisions are avoided, enabling the robot to complete all its tasks quickly and efficiently.

Note
If the current selection is a seam location, the new location is created after the end of the seam.

Procedure

1. In the Graphic Viewer, select the location after which to add a via location.
2. Choose Operation tab → Add Location group → Add Location After .
A via point is created and added after the selected location. The robot moves to the location, and the
Robot Jog dialog box is displayed.

3. Using the Robot Jog manipulator, fine-tune the position of the via location by moving the TCP frame
outside of the collision range.
4. When you are satisfied with the position of the new via location, click Close. The new via location,
which was created between two locations, is created and displayed between the two locations in the
Object Viewer. By default, all via locations are named via# (where # is an incremented number used
to create unique names).

Add Current Location

The Add Current Location option is a path editing tool that enables you to create a new location at the
current position of an object. The new location is added after the last location in the path of the current
operation. The added location is always the last location in the path. Added locations are created in the
Grip frame location of the selected object.

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 You can add locations to object flow operations and all types of robotic operations. After adding locations
to object flow operations, all locations in the operation are object flow locations. After adding locations
to robotic operations, the added locations are via locations and the previously-existing locations remain
unchanged.

Procedure

1. Select the required operation in the Object Viewer. The selected operation is displayed in the Graphic
Viewer.
2. Move the object to the required location, and then choose Operation tab → Add Location group →
Add Current Location . A new location is created in the Grip frame location of the selected object,
added to the path after the last location, and the Manipulate Location command is activated.
3. Manipulate the position of the new location, as required.

Add Location / Multiple Locations by Pick

The Add Location by Pick and Add Multiple Locations by Pick commands enable you to create new
locations after the selected location or after the seam operation for a selected seam location in the Object
Viewer, or click in the Graphic Viewer to create a new location anywhere between two existing locations
on a path.

Locations by pick can be added to object flow operations and all types of robotic operations. In object
flow operations, new locations change the operation path; after the addition, all the locations are object
flow operations. In robotic operations, new locations cause the robot to bypass collision areas; the new
locations are via locations and the previously-existing locations remain unchanged.

To add a location by pick:

Procedure

1. Select the required object flow or any robotic operation in the Object Viewer. The selected operation
is displayed in the Graphic Viewer.
2. Choose Operation tab → Add Location group → Add Location by Pick . The cursor is enhanced
with a plus sign and a location symbol .
3. Click anywhere on the existing path between two locations.
A new location is created and added to the path and the Manipulate Location command is activated,
as described in Manipulate Location.

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 Note
If the selected position is on or close to an existing location, the new location is created on the
location. If the selected position is not near the existing path, the Add Location by Pick command
operates like the Add Current Location command and creates a new location, which is added at
the end of the path.

or
Click a frame in the Object Viewer.
In this case the Add Location by Pick command operates like the Add Current Location command
and creates a new location, which is added at the end of the path.
4. Alternatively, after selecting a location in the Object Viewer, activate the Add Location by Pick
command. The command creates the new location after the selected location, or after the seam
operation if the selected location is a seam location.
5. Manipulate the position of the new location, as required.

To add multiple locations by pick:

Procedure

1. Select the required object flow or any robotic operation in the Object Viewer, or select a location in
the Object Viewer.

2. Choose Operation tab → Add Location group → Add Multiple Locations by Pick . The cursor is
enhanced with a plus sign and a location symbol .
3. After selecting a location in the Object Viewer, click again and again in the Graphic Viewer to add new
locations to the path.

Note
If the selected position is on or close to an existing location, the new location is created on the
location. If you click away from the existing path, the Add Multiple Locations by Pick command
operates like the Add Current Location command and adds the new locations to the end of the
path.

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Add Location Interactively

4. To deactivate the command, click the Add Multiple Locations by Pick icon again or press Escape
from the keyboard.

Add Location Interactively

The Add Location Interactively option is a path editing tool that enables you to create a new location and
add it in the middle of an object flow operation.

Locations can only be added interactively to object flow operations. In object flow operations, you add a
location to change the path of an object and all locations in the object flow operation are the same.

Procedure

1. Select the required object flow operation in the Object Viewer. The selected operation is displayed in
the Graphic Viewer.
2. Run the operation and then stop it where you want to add a new location by clicking the Stop
button in the Sequence Editor.
3. Choose Operation tab → Add Location group → Add Location Interactively . A new location is
added to the path at the point at which the operation has stopped and the Manipulate Location
command is activated.
4. Manipulate the position of the new location, as required.

Manipulate Location

The Manipulate Location option is a path editing tool that enables you to manipulate the position of a
selected location using the Placement Manipulator tool. You can change the position and/or orientation
of the location with the Placement Manipulator tool only for object flow and via locations.

Procedure

1. Select the required location and choose Operation tab → Edit Path group → Manipulate Location .
The following occurs:
• The object is moved to the selected location.
• A manipulator frame is placed on the selected location
• The Placement Manipulator dialog box is displayed.

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 Interpolate Locations Orientation

2. Manipulate the position of the selected location by using the Placement Manipulator tool, as
described in Placement Manipulator.

Interpolate Locations Orientation

You can use the Interpolate Locations Orientation command to adjust the orientation of locations by
interpolating between two reference locations. After selecting two reference locations and a set of
locations in between them, the command adjusts the orientation of the locations accordingly. You can
select locations using the Graphic Viewer or Object Viewer.

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Interpolate Locations Orientation

The following figure shows a sharp transition in the approach angle between the first two locations in the
path. After the second location, there is no need to adjust the approach angle any more.

After running Interpolate Locations Orientation, as shown in the following figure, the transition of the
approach angle is shared out equally between all the locations in the path. The result is a smooth approach
path for the robot.

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 Copy Location Orientation

For weld and seam locations, however, the perpendicular (as set in Weld tab) must always remain normal
to the surface on which the locations are projected (see Continuous tab). To ensure that this is the case
when running Interpolate Locations Orientation, you can select one of the axes to remain fixed.

To set a fixed axis when interpolating location orientation, in the Fixed Axis area of the Interpolate
Locations Orientation dialog box, select the desired axis.

Note
If you select a fixed axis other than the perpendicular configured in Weld tab, the system prompts you
for reconfirmation.

Copy Location Orientation

Use the Copy Location Orientation command to adjust the orientation of locations by copying the
orientation of a reference location. You can select one or more locations and then select a reference
location. The system adjusts the orientation of the locations accordingly. You can select locations using the
Graphic Viewer or Object Viewer.

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Align Locations

Align Locations

The Align Locations option enables you to align the orientation of several weld locations to another
reference weld location while keeping the Perpendicular axes normal to the surface. Alignment is useful
in order to determine a uniform welding approach direction for all the locations. The welding approach
direction is set according to the. approach axis. Refer to Weld tab.

Procedure

1. Select one or more weld locations, either in the Graphic Viewer or the Object Viewer.

2. Choose Operation tab → Edit Path group → Align Locations .

The Align Locations dialog box is displayed with the selected locations displayed in the Selected
Locations list:

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 Reverse Operation

3. Click the Align Selected Locations to field to activate it.

4. Select a reference location, either in the Graphic Viewer or the Object Viewer, to which you want
to align the selected locations. (The cursor changes to a when selecting objects in the Graphic
Viewer.) The name of the reference location is displayed in the Align Selected Locations to field.
5. Click OK.The selected locations are aligned to the reference location in the perpendicular axis only.

Reverse Operation

The Reverse Operation option is a path editing tool that enables you to reverse the direction of the path
in the current operation. This option is useful when you want to see the assembly and disassembly paths
of a component in an assembly.

Note
You can reverse the direction of multiple paths if they are all nested under the same parent. In this case,
all the locations in the selected paths are treated as a single path.

You can reverse the direction of a selected path only in object flow operations and weld operations.

Procedure

1. Select the required operation(s) in the Object Viewer (you can select one or more weld operations).
The selected operations are displayed in the Graphic Viewer and Path Editor.

2. Choose Operation tab → Edit Path group → Reverse Operation .

The direction of the path in the operations is reversed.

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 The location parameters are retained, i.e., the parameters move together with their locations.

Note
• When viewing the operation in the Graphic Viewer, the arrows along the path change direction,
indicating the direction of the path of the operation.

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 • Robot motion parameters that control motion from one location to the next are not reversed when
running Reverse Operation. This is to retain the original robot motion.
The following are the robot motion parameters: RRS_MOTION_TYPE,
RRS_JOINT_SPEED, RRS_JOINT_ACCELERATION, RRS_CARTESIAN_POSITION_SPEED,
RRS_CARTESIAN_POSITION_ACCELERATION, RRS_CARTESIAN_ORIENTATION_SPEED,
RRS_CARTESIAN_ORIENTATION_ACCELERATION, RRS_OVERRIDE_SPEED, RRS_MOTION_TIME,
RRS_OVERRIDE_ACCELERATION, RRS_OVERRIDE_DECELERATION, OLP_SPEED_DATA_NAME,
S4_SPEED_NAME, S4_MAX_SPEED, S4_RAMP, and PDL_SPEED_CONTROL.
The following figure shows an operation with the locations' Speed and Motion Type before reversing
the operation.

After reversing the operation:

◦ The first location, location 6, acquires the speed (1%) and type (PTP) of the original first location,
location 1. This is done to retain the same motion when the robot approaches the operation both
before and after the reverse.

◦ The next location, location 5, which means the robot is moving from location 6 to location 5,
acquires the motion parameters of location 6 (6, CIRC), this is the same motion as when the robot
moved originally from location 5 to location 6.
◦ The next location, location 4, which means the robot is moving from location 5 to location 4,
acquires the motion parameters of location 5 (5, LIN), this is the same motion as when the robot
moved originally from location 4 to location 5.
◦ And so on.
• OLP commands remain on the same locations, i.e., they move together with their locations. Adjust
them manually if necessary.

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Shift Location Back

• In continuous robotic operations, all the operation locations (inside the seams and via locations) are
treated as a single path.
• You can also reverse a specific seam (select the seam and run Reverse Operation).

Shift Location Back

The Shift Location Back option is a path editing tool that enables you to change the order of locations in a
path by moving a location one position backward towards the end of a path. You can move a location one
position backward only for object flow and via locations.

• Select the required location in the path and choose Operation tab → Edit Path group → Shift Location
Back .
The order of the locations on the path changes according to the location selected. For example, if you
have four locations on a path numbered loc1, loc2, loc3 and loc4, and then you select loc3 and issue
the Shift Location Back command, the order of the locations changes to loc1, loc3, loc2 and loc4.

Note
The position of the locations are not changed, only the order of the locations in the path.

Shift Location Forward

The Shift Location Forward option is a path editing tool that enables you to change the order of locations
in a path by moving a location one position forward towards the start of a path. You can move a location
one position forward only for object flow and via locations.

• Select the required location in the path and choose Operation tab → Edit Path group → Shift Location
Forward .
The order of the locations on the path changes according to the location selected. For example, if you
have four locations on a path numbered loc1, loc2, loc3 and loc4, and then you select loc2 and issue
the Shift Location Forward command, the order of the locations changes to loc1, loc3, loc2 and loc4.

Note
The position of the locations are not changed, only the order of the locations in the path.

Flip Locations

The Flip Locations options enable you to flip weld locations on a surface 180 degrees around their
approach axes. The approach axis is defined in the Weld tab. Alternatively, you can flip weld locations on
solids and specify the parts that are included in the flip.

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 Flip Locations

To flip seam locations on surface:

• Select the seam locations that you want to flip and choose Operation tab → Edit Path group → Flip

Locations .
The selected seam locations flip along their approach axes.

To flip weld locations on solid:

1. Select the weld locations that you want to flip and choose Operation tab → Edit Path group → Flip
Locations on Solid .
The Flip Weld Location dialog box appears.

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Flip Locations

2. The Weld Locations and Parts list displays the selected weld locations and their associated parts.
Modify the list as follows:
• To remove weld locations, or parts from a weld location, select them and click Remove. They are
removed from the list.

Note
A part that appears in bold cannot be removed directly from the list since the weld location is
attached to it due to the weld point projection. To remove such a part, first flip the weld location
to attach it to another part, and then remove the part that was in bold.

• To add parts to a weld location, select a weld location in the Flip Weld Locations dialog box and
click Add Parts.
The empty Add Parts dialog box is displayed.

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 Mirror

Select parts from the Graphic Viewer or trees that you want to add to the weld location then click OK.
The parts are added under the selected weld location.
3. Click Flip in the Flip Weld Locations dialog box to flip the weld locations.
The selected weld locations are flipped around their approach axis and translated along their
perpendicular axis to the other side of the parts. The system flips the weld locations with the
orientation standards defined in the Weld tab. When using Flip on solid, the system also uses the
Permitted gap between parts parameter to define the group of parts upon which the location will
be flipped. Click to display the Options dialog box and edit these settings.

Mirror

The Mirror command creates the mirror inversion of an existing operation. Use the Mirror Operation
command to simplify the planning of processes that need to be repeated with mirror inversion.

The Mirror command enables you to specify a plane for the mirror inversion and then locate or create
mirrored equivalents for objects (resources, weld points, Mfgs and operations) that belong to the source
operation. You can search for objects that already exist in the mirrored positions and, if necessary, you can
create new objects in the mirrored positions.

You can search for objects that are already loaded to the current scene. For resources, you can search the
current scene.

You cannot search for or create parts, but you can select an existing part from the scene to include in the
mirror operation even if it is the same resource, object or part used in the source operation. Similarly, you
cannot find or create mirrored objects for Human operations.

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 The Mirror command is available for all operation types. You can perform a Mirror command on a single
operation but not on multiple operations.

Note
The Mirror command does not support gantry resources.

Procedure

1. Select the operation you wish to mirror and choose Operation tab → Edit Path group → Mirror

.
The Mirror dialog box opens with the operation you selected displayed as the source operation.

The default mirror plane is shown in the Graphic Viewer.

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 The Source column displays a tree of the source operations with all of their assigned objects
(resources, external axes, etc., as displayed in the Resources tab of Operation Properties) displayed
as child objects. You can assign resources to an operation and view these as child objects of the
operation in the Source column. If the assigned resource is a compound resource/equipment, the
Source column also displays its hierarchy. Additionally, you can create or pick mirrored objects and
the system assigns them to the mirrored operation.

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 In this example, the resources Robot, WeldGun, and Rail are assigned to the operation Weld_Op.
The Mirror application creates the new operation Weld_Op_mirrored and assigns the new resources
Robot_mirrored, WeldGun_mirrored, and Weld__mirrored to the new operation.
The application automatically populates the Mirrored column with new operations to serve as
the target operations under which to create the mirrored objects. You can click the default target
operation for continuous and weld operations only and select a currently-existing operation to be
the target. The target operation must be the same type as the source, for example, if the source is a
generic robotic operation, the target must also be a generic robotic operation.

Note
• If you wish to use a currently-existing operation, it must not contain any locations.
• If the source operation is not a continuous or weld operation, the system displays a new
operation in the Mirrored column - you cannot exchange the new operation for a currently-
existing one.
• You can exclude seam operations from the mirror by deleting them in the target cell. In this case,
the relevant Mfgs are also not mirrored.
• Locations do not appear in the Source column.
• If the External TCP setting of a weld operation is active (see Operation Properties), the
External TCP setting of the target operation is also active, and vice versa.
• If the target operation has assigned resources, these are automatically matched in the Mirror grid
to the source operation resources.
• By default, the system copies values on the locations of copied external axes to the target
locations.
• When mirroring Logic Resource, entries and exits connected to a signal are mirrored and
connected to the new mirrored signal.

2. If you do not wish to use the default settings or wish to adjust the mirror plane, click Adjust
Mirror to define the plane of reflection for the mirror process.
The Mirror Plane Adjustment dialog box appears.

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 a. In the Direction area, select the XY, YZ, or XZ plane.
b. In the Default Flip Axis area, select one of the three axes to be flipped. The other two axes will
be mirrored according to the plane. The flip axis is flipped to preserve the relationship between
the axes. For example, if you select X, the Y and Z axes are mirrored according to the plane, and
the X-axis is flipped according to the Y and Z axes to preserve the orientation.
If you wish to override the default flip axis, select object(s) in the Mirror dialog box, click the
Flip column in the relevant row, and select the desired axis. If, however, you change the Default
Flip Axis after configuring overrides, the overrides are reset to the global value.
c. In the Plane Reference Frame area, specify the reference frame in which you wish to define
the mirror plane. Select Center of Displayed Objects if you want the plane to be defined
relative to the center of the bounding box of the objects in the scene. Select Other to define
an alternate reference frame. Refer to Create Frame for information about how to define an
alternate frame. The plane you create appears in the Graphic Viewer. The following figure
shows a plane displayed in the Graphic Viewer.

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 d. Use the Manipulate Plane area of the Mirror Plane Adjustment dialog box to fine-tune the
position of the plane you created.
You can do any of the following:

• Click to translate the plane along the Z-axis.

• Click to rotate the plane about the X axis.

• Click to rotate the plane about the Y axis.

e. Check Hide Plane if you do not want the plane to be displayed in the graphic display.
f. When you are satisfied with the position of the mirror plane, click OK.
3. In the Mirror dialog box, either find or create mirrored objects for other source objects, using any
combination of the following options:

• Click to run the Auto Mirror option. Auto Mirror searches the current scene for a mirror
candidate for all source objects that do not have a match in the Mirrored column. Names of any
mirrored objects that are found appear in the Mirrored column. For all operations and for any
source weld point or resource for which no existing mirrored object is found in the scene, Auto
Mirror suggests names of mirror objects to be created. The suggested names appear in italics in the
Mirrored column. The names of objects found in the current scene do not appear in italics.
You cannot search for or create parts but you can select an existing part from the study to include
in the mirror
• The following example shows a combination of existing and suggested mirror objects:

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 The mirrored objects are marked in the right column as follows:

- New object, the text is shown in italic font.

- Existing object, the text is shown in bold font.

- The object was located using the mirror search.

Note
You cannot search for Mfgs - make sure they are loaded in the scene before launching Mirror.

• Click to search the current scene for mirror candidates for resources and weld points. Select
resources and weld points before clicking the button.

• Click to create a new mirror object for each selected source object.
The names of the mirror objects to be created appear in the Mirrored column in italics. The objects
are not actually created until you click Apply at the end of this procedure.

• Click to clear selected objects in the Mirrored column.

• Click to clear all objects and seam operations (all other operations remain in place) in the
Mirrored column.

• Click to display selected objects in the Graphic Viewer.

• Click to highlight a selected pair of objects. When a pair of objects is selected, the source
object is colored orange and the mirrored object is colored blue.
• You may wish to adjust the position or orientation of mirrored objects with external axes: If you
mounted a robot on a rail and there is an obstruction at the target location, you can click to
open the Rail Adjustment dialog box.

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 If you modify the Shift Rail value, you get the following result:

You can also use the Reverse rail setting to flip the mirrored object.
The system also modifies the values of the external axes accordingly.

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 • Click to configure optional Mirror settings.
The Settings dialog box appears.

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 Set any of the following options and click OK:
◦ Set the Radius of search scope radius.
This determines the area surrounding the exact mirrored location of a source object in which to

search for mirror candidates in the scene using or .

◦ Check Consider Mfgs only from library scope, if defined to limit the search for Mfgs to the
library scope.
Note
This option is only active in Process Simulate on eMServer connected.

◦ Configure Naming Rules for components created by Mirror, in one of the following ways:
◊ Select Add to use source component names with an addition. Select Suffix or Prefix, and type
the text you wish to add. The system makes the same addition for all the new components.
◊ Activate the Naming Rules table to use source component names with modified text.

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 ‒ Click to create a rule (or to delete one).
‒ For each rule, type the text to be modified under Replace, the modified text under With,
and add a Description if you wish.

‒ You can use the and arrows to order items in the table.
‒ The rule order is important because the system evaluates the rules from the top of the table
downwards; if the system matches the Replace of a rule in the Source object name and
replaces the target object name according to the With of the rule, it omits the rest of the
rules in the table.
‒ If the system does not find a match, then if If none of the rules apply, add is checked, the
system adds prefixes or suffixes, as configured.
‒ Only rules checked in the first column of the Naming Rules table are evaluated. Clear a
specific rule to ignore it.
‒ If a rule is not configured correctly, the system displays an exclamation mark next to the
rule in the column.
◊ For more information about Regular Expression Language, refer to http://
msdn.microsoft.com/en-us/library/az24scfc.aspx.
◊ The following are examples of possible naming rules:
‒ Replace = 123, With = 456: The system replaces 123 in the source name with 456 in the
target. For example, Robot123 becomes Robot456.
‒ Replace = (?<number>[0-9][0-9][0-9])_l, With = ${number}_r: The system searches for a
string of three consecutive digits followed by _l and replaces these with the same digits
followed by _r. For example Robot123_l becomes Robot123_r.
‒ Replace = (?<string>\w+)[0-9]_l, With = ${string}6_r: The system searches for all strings
with at least one character, a number between 0 and 9, and that is followed by _l and
replaces these with the same string but with 6_r instead of 3_l. For example Robot3_l
becomes Robot6_r.
‒ Replace = (?<string1>\w+\()(?:R)(?<string2>[0-9]\)), With = ${string1}L${string2}: The
system retains the first part of the string up to and including the (, replaces the R with
L, and retains the rest of the string including the ( and the digit. For example, Robot12(R3)
becomes Robot12(L3).
◦ Configure Signal Naming Rules for robot signals created by Mirror, in one or both of the
following ways:
◊ Check Replace robot name with mirrored robot. In this case, the name of the robot included
as part of the source signal name is replaced with the name of the new robot. For example, if
robot Rob1 contains signals prefixed by r1_ and is mirrored to robot Rob2, all the target signals
will have the prefix r2_ instead of r1_.
◊ Check Replace, type text to be modified, and type the modified text in With.
◦ Copy external axis values is set by default.

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 You can clear this if you do not wish to copy external axis values to the mirrored axes.
• Click Reset at any time to remove all newly created objects.
4. To include a mirrored part for each part in the Source column, select the part in the Source column
and click the part you want to use in the Graphic Viewer or Object Viewer. Alternatively, type the
name of the object. The name of the part you selected appears in the Mirrored column.
5. If the system has listed new resources in the Mirrored column, you can click the resource and select a
currently-existing resource (that matches the source) from the Graphic Viewer or Object Viewer.

Note
• The target resource may not be a child of the source operation or the target for another resource.
• If selecting a currently-existing resource or operation would cause that object to appear under a
new parent, then when you click Apply, the system blocks the move and displays an Invalid Data
Detected message.

6. If you wish to flip an object in a plane other than that you set as the default in step 2, click the Flip
column for the relevant object.

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 In this example, Y is the default flip plane - select X or Z.
You can also select multiple objects and right-click the Flip column of one object to change them all.
7. In the Target Creation Scopes area, set the following target parameters. These targets may not be
child objects of the source operation.
• Process - Select the Teamcenter process operation in the Object Viewer under which you want to
create the mirrored operation or type its name.
• Resource - Select the scope in the plant (from the Object Viewer) under which you want to create
the new resources or type its name.
• Mfgs (default) - Select the name of the product scope in the Object Viewer under which you want
to create the new Mfgs, or type its name. You can override this target for one or more public Mfgs
by setting Mfg Target Scope in the Mirror table for the selected Mfg. Alternatively, right-click a
group of selected Mfgs, select Mfg Target Scope, and chose a new Scope. The Mfg Container is
relevant for public Mfgs.

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 8. If you wish to see a preview of the mirror operation before making changes to the database, check
Show preview. The source and existing target objects remain unchanged in the Graphic Viewer, the
new objects are displayed in transparent mode, and all currently-displayed objects that are out of the
mirror scope are displayed in a transparent gray color.

Note
• The preview is dynamic - any changes you make in the Mirror dialog box are immediately
implemented in the Graphic Viewer.

• If you click to highlight a selected pair of objects when Show preview is active, the source
object is colored blue and the mirrored object is colored yellow - the background of these objects
in the grid of the Mirror dialog box is also colored accordingly.
• If the preview is still active when you click Apply, the system closes it automatically.

9. Click Apply to perform the mirror inversion process. The mirrored operation is created under the
specified target process scope with all the objects in the Mirrored column assigned to the mirrored
operation. All mirror candidates that were suggested for creation are created and their names no
longer appear in italics. For source objects for which no mirrored object was listed, the result depends
on the object type:
• Operation: Creates an operation named according to the naming rules configured in the Mirror
Settings dialog box. In the case of seam operations, no mirrored operation and no Mfgs are
created.
• Resource: Does not create any mirrored resource.
• Part: Does not create any mirrored weld point.
• Weld point: Creates a via location in the mirrored location.
• Via location: Creates a via location named according to naming rules configured in the Mirror
Settings dialog box.
• Seam operation: Creates a mirrored seam operation including Mfg and seam locations.

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 Copying and Moving Locations

Note
If there is a robot with a mounted gun in the Source column, and a gun that is not mounted on
any robot in the Mirrored column, the Mirror command creates a robot and mounts the gun on
the new robot. The mirrored robot frame used for mount is a ToolFrame. The gun frame used in the
mirror target is the same frame as that used in the source If either of these cannot be found, the
gun is not mounted on the robot. You can use Mount Tool to mount the tool.

10. Click Close. The Mirror dialog box is closed.

Copying and Moving Locations

In Path Editor and Object Viewer, you can copy or move locations between operations, using copy-paste,
cut-paste, or drag and drop. The system preserves as much location information as possible during such
reassignment. The following system frames are preserved if they can be matched by the target operation
(the assigned robot must have a compliant controller type): Tool frame, Object Frame, Remote TCP, Work
Tool (Work Tool frame has higher priority than Tool Frame when matching the system frames).

The following figure shows the matching frames kr2210_rob2.uf2 and kr2210_rob3.uf2 of robots rob2
and rob3 in the Object Viewer.

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Copying and Moving Locations

Note
• Location reevaluation and system frame updates are performed automatically when a new robot is
assigned to the operation.
• All locations are treated separately.
• If there are no matches, the system frame information is removed from the location.

The following example relates to the FANUK robot controller but applies equally to all custom robot
controllers.

If you set a specific frame for a location:

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 Copying and Moving Locations

When copying the location, the frame information is retained:

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Robotic Automatic Path Planner

Robotic Automatic Path Planner

The Robotic Automatic Path Planner automatically calculates and creates an optimal, collision-free path
for weld operations, pick and place operations, and generic robotic operations. For continuous operations,
use Legacy Automatic Path Planner and for all other operation types, use Assembly Automatic Path
Planner.

Collision-free means there are no collisions between the objects in the active collision sets defined
in the Collision Viewer. You can define specific collision sets to include only relevant objects under
examination. Collision detection works only for displayed objects, so you can hide objects irrelevant to
collision detection. While calculating the optimal path, the Path Planner adds and/or deletes via locations,
or uses existing locations to ensure a collision-free path. The Path Planner divides operations into sets
of locations, known as segments. Each segment contains fixed start and end locations and may contain
intermediate, non-fixed locations. For each segment the Path Planner plans a collision-free path and then
optionally optimizes the planned path.

Run Robotic Automatic Path Planner

Procedure

1. Choose Robotic Automatic Path Planner.The Robotic Automatic Path Planner opens together with
a new instance of the Path Editor.

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 Run Robotic Automatic Path Planner

The Path Planner window is bound to the new Path Editor instance. In this example, Path Editor
(2) is the new Path Editor instance, and the Path Planner window is called Robotic Automatic Path
Planner - Bound to Path Editor (2). The Path Planner acts on the operations loaded in its bound Path
Editor window.
Or

After loading robotic operations in the Path Editor, click .

2. In the Object Viewer, select the robotic operations whose paths you wish to plan and click to
load them in the bound Path Editor. If you preselected the operations before launching the Path
Planner, they are automatically loaded in the bound Path Editor.

3. Activate the algorithms you wish to run.

• Approach Depart—Creates approach and depart locations around each process location, enabling
you to control how the robot approaches and departs the locations.

Note
◦ Approach and depart locations are created based on opening the gun and moving the gun
downwards (perpendicular adjustment) along the reverse weld perpendicular axis. By default,
the perpendicular axis is the Z-axis, but you can configure the Perpendicular vector in Weld
Location Orientation.

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Run Robotic Automatic Path Planner

◦ Approach and depart locations are only created if the clearance is better at the approach/
depart location than at the weld location. If a better clearance location cannot be found,
approach/depart location creation fails.

• Path finding—Finds a collision-free path for each operation.

Operations are composed of fixed process locations, for example weld locations, and via locations
whose job is to route the robot TCP. The Path finding algorithm solves each segment (the path
between a pair of fixed locations) of the operation in turn by adding via locations through
which the robot TCP must pass, thus circumventing obstacles that are present between the fixed
locations.
• Optimization—Optimizes the collision-free paths previously found to smooth them and reduce
cycle times. Before optimizing the path, this algorithm verifies the path, and updates it if you have
made any changes since finding the path. You can only activate this algorithm if Path finding is
active.
• Interlock solving—Verifies there are no collisions between the robots associated with the
operations nested in the compound operation. When checking each robot, the algorithm ensures
there are no collisions with any of the other robots operating within the interlock area. If you have
loaded single operations (and no compound operations), this algorithm is deactivated.
If you selected a compound operation, all the nested operations must have different associated
robots or the Path Planner does not run. This is because the Interlock solving algorithm checks
for collisions between the robots. However, if you load a compound operation plus an additional
operation, the latter may have the same associated robot as that associated with one of the
operations in the compound. This is because the Interlock solving algorithm only checks for
collisions between robots associated with operations nested in a single compound.
The progress of each activated algorithm is represented in the progress bar. For example, if you have
activated three algorithms:

To view the result of the interlock solution, run the simulation in the Sequence Editor. The interlock
solution typically addsSEND or WAIT signals to prevent robot collisions, the result of which is not
apparent in the Path Editor.
4. If you wish to examine the collisions in the operation path before running the Path Planner, click

Update collision statuses using Robotic Automatic Path Planner in the bound Path Editor
toolbar. The Location Collision Status and Interval Collision Status columns are populated with
icons representing the collision state for each of the locations in the operations.

Note
When testing each robot for collisions, the Path Planner assumes all the other robots remain at their
Home pose.

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 Run Robotic Automatic Path Planner

—No collision

—Near miss. Parts are within the distance defined by the Near Miss parameter in the Collision
Viewer.

—Collision detected at the location as a result of the defined collision settings.

—Self collision detected. The robot is in collision with one of its mounted parts. This can only
occur if Automatically handle self collisions is set and if the collision does not occur when
considering existing active collision sets. When this option is set, collisions between the robot
and its auxiliary devices (such as guns and grippers) are automatically detected and taken into
consideration by the algorithm.
5. Before running the Path Planner, you can clear the relevant Activation Status cell for any locations
you wish to omit. This can save time and computing resources if there are data segments that do
not require checking. After selecting multiple locations in an operation, clicking one of the selected
Activation Status cells changes the state of all the selected locations.

6. Click .
The Path Planner runs. This may take a while, depending on the complexity of the specified data.

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Run Robotic Automatic Path Planner

7. You can click if you wish to abort the process while it is running.

While the process is running, you can click one of the icons to control the level of
detail provided by the log messages, or to clear the currently displayed messages.

Note
• Collisions may still be registered in the Location Collision Status column as the Path Planner
does not handle collisions at process locations. It only resolves collisions occurring between the
operation locations.
• Newly created locations inserted between two fixed locations (Start and End) use the TCP frame
of the End location if the change was caused by a work tool or tool frame change. If the change
was caused by using an OLP command, the TCP frame of the Start location is used (the gun is not
mounted yet).
• When using MOP, the line single_joint_prof single_prof; must be defined in the
motionparameters.e file of the robot to ensure that the interpolation used by path planning is
the same as the simulation. For more information on how to define motion parameters, refer to
the motionparameters-e.pdf document which can be found under ...\eMPower\Help\Additional
Reference Material.

8. (Optional) If you are not satisfied with the path changes, click Revert . Before running Robotic
Automatic Path Planner, the system stores the current state of the operations you are working on.

After calculating collision-free paths, you can click Revert to undo the changes and revert to the
saved operations. After each time run, Robotic Automatic Path Planner stores the current state of the
operations. Therefore you can only undo (revert) the latest run.

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 Robotic Automatic Path Planner parameters

Robotic Automatic Path Planner parameters

Procedure

1. In the Robotic Automatic Path Planner, click .

The Path Planning Parameters dialog box appears. The General Parameters tab is open.

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Robotic Automatic Path Planner parameters

You can set the following parameters:

• Set Backup Operations if you wish to create a backup of the selected operations before running
the planner. The system creates the Automatic Path Planner Backup node and nests all backup
operations there. In this example, you can compare the collision-free operation with via locations
added by APP and the backup operation without additions.

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 Robotic Automatic Path Planner parameters

Note
Reset does not revert backed-up operations.

• If the robot gun values are not set meaningfully, errors may occur and the Robotic Automatic Path
Planner fails to run. For example, if the gun is defined as an external axis and its open value is set
to 20mm, and an approach location requires the gun to be open at 50mm, an error occurs. You can
turn off Restrict gun limits to OPEN/CLOSE values to avoid this problem.
• If Activate smart gun tips collision detection is not active, you can set Force gun tips collision
detection for APP calculations to ensure the Robotic Automatic Path Planner detects gun tip
collisions. For faster operation, turn off this option if these collisions are not of interest or if you are
sure there are none.
• It is possible for the robot gun to rotate and collide with the robot body. If you have configured the
Collision Viewer to detect these collisions, Robotic Automatic Path Planner also detects them.
If you prefer not to detect them in the Collision Viewer (due to performance issues), you can set
Automatically handle self collisions to still view them in Robotic Automatic Path Planner.
• In Cable twisting prevention, you can select each of the robots associated with operations loaded
in the planner and set the Maximum joint angle allowed for the sum of its J4+J6 values.
2. Click the Approach Depart tab.

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You can set the following parameters:

• The Create approach and depart locations around process locations button activates this
algorithm. This is the same as the Approach Depart button on the main planner window.

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• For each of the robots associated with operations loaded in the planner, you can set Gun opening
and Perpendicular adjustment values for the approach and depart locations to be created.
• You can click Show help to view a diagram that illustrates these parameters.

Click Preview to view a short animation.

3. Click the Path Finding tab.

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You can set the following parameters:

• The Remove collisions from the operations button activates this algorithm. This is the same as
the Path Finding button on the main planner window.

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• Run escape avoidance path finding. If there is an obstacle in the direct path between one process
location and the next, simply opening the weld gun can sometimes prevent a collision. If this
maneuver is not sufficient, then when this option is set, the planner reverses the gun along the
Approach vector, as defined inWeld Location Orientation (set to Y by default).
• You can set the Segment path finding timeout. After this amount of time, the algorithm moves
on to the next segment even if it has not solved the current one.
• By default Motion type for added via locations is set to Motion type of target if possible.
The system assigns the Joint or Linear motion type of the new location according to that of the
target location. If you set this option to Prefer joint motion, for example when adding a location
between locations with different motion type configurations, the motion type of new locations is
set to motion.
• You can click Show help to view a diagram demonstrating how this algorithm works.

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Click Preview to view a short animation.

4. Click the Optimization tab.

You can set the following parameters:

• The Optimize the operation to make it smoother and reduce its cycle time button activates this
algorithm. This is the same as the Optimization button on the main planner window.

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• You can set the Optimization type to either Zone assignment or Cycle time optimization:
◦ Zone assignment—The robot TCP must pass through the defined zones, creating a smooth
path.
a. By default, the zone definitions you define relate to both linear and joint motion. You can
set Define different zones per motion type.

b. Define zone definitions, as follows:

◊ Click to add a zone definition.

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◊ Select a definition and click to remove an unwanted definition.

Note
‒ The zones for the default robot controller are: Fine, medium, coarse, and nodecel.
For customized robot controllers, refer to the product documentation for the
relevant zones.
‒ In the Zones list, the first zone must correspond to the "fine" zone. All larger zones
must be listed in ascending order (from small to large).
‒ The number of Zones in the list affects calculation time. It is recommended to limit
the list to up to four zones.

c. You can click Show help to view a diagram demonstrating how this algorithm works.

Click Preview to view a short animation.

◦ Cycle time optimization—the planner makes significant changes to the current path by moving
and deleting existing locations, and adding new ones. This optimization method is likely to take
longer than the Zone assignment method.

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◊ You can set the Computation timeout—After this time expires, the algorithm moves on to
the next segment even if it has not solved the current one.
◊ Target cycle time—For each robot, you can set a target cycle time. When this is achieved,
cycle time optimization is complete.
◊ You can click Show help to view a diagram demonstrating how this algorithm works.

Click Preview to view a short animation.

5. Click the Interlock solving tab to solve collisions between robots associated with operations nested
under the same compound operation (sequence).

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You can set the following parameters:

• The Remove collisions between operations of the same sequence button activates this
algorithm. This is the same as the Interlock solving button on the main planner window.

• Set the Synchronization method to one of the following:

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◦ Adding signals—When a robot exits the interlock zone, it sets a signal. When the other robots
read this signal, the next one can enter the interlock zone.
◦ Adding wait times—Each robot is allocated a period of time after which it may enter the
interlock zone.

Note
◊ The Adding wait times interlock solving method does not provide security: If for any reason
a robot has not exited the interlock zone, the next robot enters and there may be a collision.
◊ To view the result of the interlock solution, run the simulation in the Sequence Editor. The
interlock solution typically adds SEND or WAIT signals to prevent robot collisions, the result
of which is not apparent in the Path Editor.

• You can click Show help to view a diagram demonstrating how this algorithm works.

Click Preview to view a short animation.

Assembly Automatic Path Planner

The Assembly Automatic Path Planner automatically calculates and creates an optimal, collision-free
path for object flow operations, gun-only operations (operations to which no robot is assigned - welding is
performed manually by a human operator), and load assist operations (devices that use numerical inverse
kinematics).

For robotic operations, use Robotic Automatic Path Planner and for continuous operations, use Legacy
Automatic Path Planner.

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While calculating the optimal path, the Assembly Automatic Path Planner may add or delete via locations,
but the first and last locations of each motion segment remain fixed. OLP commands are retained even
if their location is removed, and locations including Attach/Detach or Grip/Release OLP commands are
automatically marked as fixed. Attachment changes (refer to Adding Events to Operations) made during
a simulation (for example, a robot gripping a part) are also taken into account during path planning, so
that a collision-free path is calculated for both the robot and the gripped part. Collision-free means that
the system runs the Assembly Automatic Path Planner calculation according to the active collision sets. For
information on active collision sets, refer to Collision Viewer.

The Assembly Automatic Path Planner divides operations into sets of locations, known as segments. Each
segment contains fixed start and end locations and may contain intermediate non-fixed locations. For each
segment the Assembly Automatic Path Planner plans a collision-free path and then optimizes the planned
path.

After calculating a collision-free path, you can use manual tools such as Manipulate Location to fine-tune
the final result.

Assembly Automatic Path Planner, for both Assembly and Disassembly processes and for robotic
operations, can use existing via locations to guide the solution in the desired direction.

You can define specific collision sets to include only relevant objects under examination. Collision
detection works only for displayed objects, so you can hide objects irrelevant to collision detection before
running Assembly Automatic Path Planner.

When running Assembly Automatic Path Planner on gun-only operations, the system implements an object
flow type of gun movement based on the working frame. Because the current gun kinematics pose is used
as a reference, it is recommended to set the gun pose to Open.

Note
• If you have selected both object flow operations and human operations, Assembly Automatic Path
Planner is disabled.
• All Assembly Automatic Path Planner options are saved for the next session of Process Simulate.

Run Assembly Automatic Path Planner

Procedure

1. From the Object Viewer, select either the object flow operations or weld operations (which have a
robot assigned) for which you wish to run Assembly Automatic Path Planner.
2. Choose Operation tab → Edit Path group → Assembly Automatic Path Planner .
The Assembly Automatic Path Planner dialog box appears.

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For each robot, the Paths & Locations column displays a hierarchy of the selected operations, each
with its via locations and weld locations nested beneath it. For multiple operations, you can expand
or collapse the display of the locations.
The robot controller's Motion Planner is shown in brackets.

3. Check the Fixed column for each via location you wish to be mandatory and clear it for those you
wish to be optional. Some mandatory locations are fixed by default and cannot be changed, such as
Weld Locations and the first and last location of an operation. While calculating a collision-free path,
Assembly Automatic Path Planner deletes the optional via locations (and replaces them with new via
locations) but retains mandatory ones.

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The set of non-fixed locations (which by default contains all the via locations in the operation) serves
to provide 'guiding' locations during the path planning process. Assembly Automatic Path Planner
attempts to build the new path in the vicinity of the non-fixed locations whenever possible within the
environment constraints.

Note
The Collision column is populated with one of the following statuses: Free, Contact, Collision or
Self Collision.
• Free—free of collisions at the location
• Contact—parts are in contact at this location. This occurs if parts are in a state of collision
but the penetration between them is less than the value set in the Allowed Penetration
parameter in the Collision Viewer.

For example, if a nut is screwed onto a bolt and is in a state of Contact, Assembly Automatic
Path Planner ignores the collision and plans a path accordingly. This results in a more accurate
path.
• Collision—collision detected at the location as a result of the defined collision settings
• Self Collision—collision between the robot and its mounted tools that is not considered by
currently defined collision settings. Automatic Path Planner calculates self-collisions by taking
into account all of a robot’s kinematic links except the last two and checks them against anything
attached to the robot (for example, a weld gun).

Note
The operation Start and End locations (or of each segment within operations, if segments are
defined) and all the flow and weld locations are mandatory. They are grayed-out and you cannot
change them.

Note
• You can use Automatic Path Planner on an operation where the TCP frame changed due to a
work tool change, a tool frame change or through use of the Mount/Unmount OLP commands.
In these cases the TCP location is locked to enable use with Automatic Path Planner.

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• Newly created locations inserted between two fixed locations (Start and End) use the TCP frame
of the End location if the change was caused by a work tool change or a tool frame change. If the
change was caused by using an OLP command the TCP frame of the Start location is used (the
gun is not mounted yet).

4. When Assembly Automatic Path Planner creates new via locations, it assigns their Motion Type (Joint
or Linear) according to the Motion Mode of the segment to which they are added. The segment's
Motion Mode is defined in the Motion Mode column, next to the segment's target location. To
change the Motion Mode value, select it from the list or right-click one or more selected locations
and choose the desired value from the context menu. Locations added by the Assembly Automatic
Path Planner before the selected location adopt the same motion type value.

Note
• The Motion Type of the segment target location is not affected by this operation.
• The Motion Type for locations is displayed in the Path Editor.

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• If the Motion Type is Joint Motion, the line single_joint_prof single_prof; must
be defined in the motionparameters.e file of the robot to ensure that the interpolation used
by path planning is the same as the simulation. For more information on how to define
motion parameters, refer to the motionparameters-e.pdf document which can be found
under ...\eMPower\Help\Additional Reference Material.

5. By default, Assembly Automatic Path Planner runs on complete operations. However, you can select
specific segments (sets of two or more locations) on which to run Assembly Automatic Path Planner,
if, for example, you wish to investigate a specific part of a path.
a. Select the segments on which you wish to run Assembly Automatic Path Planner. You can use
standard Windows key combinations to make multiple selections.
b. Right-click the selection and select Activate Selected Locations.
The ranges that you set as active are highlighted and the others are grayed out. Assembly
Automatic Path Planner sets the first and end locations of each segment to be mandatory (if
optional).
When you run Assembly Automatic Path Planner, it checks only the selected segments.
c. Right-click anywhere on the grid and select Activate All Locations to clear the selection. When
you next run Assembly Automatic Path Planner, it checks the full operations.
6. Click the Path Planning tab.

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Set the following parameters:

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a. Quality determines the resolution (precision) of the Assembly Automatic Path Planner
algorithm. Exact provides a collision free final result, but it increases calculation time. Draft
decreases the calculation time but small collisions may remain in the final result.
b. If a segment is invalid due to a collision, Assembly Automatic Path Planner calculates a path
that includes the colliding locations. For each colliding location, the algorithm finds the closest
collision-free location and calculates a path from that collision-free location.
The final path includes both the colliding location and the corresponding collision-free location.
When Allow colliding fixed locations is checked, Assembly Automatic Path Planner attempts to
find to a collision-free location nearby the first location, and issues collision warnings if it fails.
c. For object flow operations, optionally configure a New Section Volume to constrain the
Assembly Automatic Path Planner algorithm. You must run Activate Section and set the section
to Clipping Outside mode. Assembly Automatic Path Planner does not consider any paths
outside the volume. Configuring a pertinent section volume reduces the execution time of the
algorithm and produces only useful results. To activate this, set Consider active section. The
name of the active volume is displayed. Otherwise, it displays None or Multiple.

When Consider active section is set, you can set Include device if you wish to include only
collisions of the robot/device inside the section volume, or clear this option if you wish include
collisions of the robot/device both inside and outside the section volume.
7. For object flow operations, you can configure the translation and/or rotation limits in the Movement
limits area for the simulated part at all the fixed locations in the operations.

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Proceed as follows:
• Translation limits enable you to limit the translation range of the moving part. When configured,
all the created locations are located within the translation limits you set. The translation limits are
relative to the operation’s grip frame when the moving part is at the first location of the operation.
This means the X, Y, and Z values of the start location are 0, 0, 0. The X, Y and Z-axes are oriented
like the grip frame at the first location.
You can define translation limits on the X-axis, Y-axis, and/or Z-axis, as follows:
◦ Check X, and/or Y, and/or Z Low limit and/or High limit translation values.
After setting Show in Graphic Viewer, the system displays the translation limits as a semi-
transparent box.

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Note
If you define limits that do not include all the fixed locations of the operation, the system
displays an error message. Fix the limits and continue.

◦ You can also adjust the Translation limits by dragging the limiting planes in the Graphic Viewer.

◦ Check Lock on any combination of axes to prevent any translation on those axes.
◦ Make no change to the translation parameters to allow any translation.
◦ You can configure the color of the translation limits box in the Graphic Viewer in the Sections >
Plane setting on the Appearance Tab.
• All rotation values are relative to the state of rotation of the first location in the operation. Do one
of the following for each plane of rotation:

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◦ Check Ry (for example) and configure Low limit and High limit rotation values.
You can click the Simulate Ry button to view the rotation effect.

◦ Check Lock to prevent any rotation.

◦ Make no change to the rotation parameters to allow any rotation.
8. Make sure that the simulation of the path runs smoothly, i.e., without warnings or errors. Path
segments that cause warnings or errors are skipped and an indication appears in the Status column.
9. Click Plan in the Path Planning section to calculate a collision-free path.
• In its first iteration, Assembly Automatic Path Planner:
◦ Identifies mandatory locations at which the moving object (or robot) collides with the
components and marks them with the icon in the Status column.

◦ Identifies locations that the assigned robot is unable to reach and marks them with the icon
in the Status column.
◦ Identifies locations at which the moving object (or robot) collides with the active section volume

and marks them with the icon in the Status column.

◦ Identifies optional locations containing OLP commands to be deleted.
◦ Issues the following warning if it detected problematic locations:

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Click Details to view the problematic locations and then click Continue to continue calculation
despite the problem or Abort to cancel the calculation. If you press Continue, Assembly Automatic
Path Planner does not execute segments with problematic operations but does execute segments
with non-fixed locations possessing OLP commands. Those via locations are then deleted together
with their corresponding OLP commands.
• In its second iteration, Assembly Automatic Path Planner:
◦ Calculates a collision-free path for each pair of fixed locations in the selected operations.

◦ Marks the second location of the pair with the icon for each successful calculation.
◦ Removes optional locations where necessary.
◦ Adds locations where necessary.
The following figures show a path before and after a collision has been removed.

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Note
When performing path planning for continuous operations, the Assembly Automatic Path Planner
makes no changes to the seams. It only adds via locations to ensure there are no collisions between
the seams.

The calculation progress for the current segment is displayed in the Automatic Path Planner progress
bar.

10. If you wish to stop Assembly Automatic Path Planner while it is running, click Stop.

The status of the current calculation is marked with the icon.

Click Plan again to resume the current calculation. If you wish to skip the calculation of a specific
segment, right-click on the corresponding location during the calculation and select Skip Segment.

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11. While planning is in progress, the Path Planning section displays the Magnet point option for Object
Flow operations to assist you in discovering obstruction-free paths for cases when solutions may be
very complex. The Update display check box is automatically activated, allowing you to view the
progress of the planning algorithm as it attempts to find a collision-free path.

a. Click the Magnet icon .

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Automatic Path Planner creates a duplicate ghost image of the part to be moved, and attaches a
Placement Manipulator to the ghost part.
b. Use the manipulator to move the ghost part (together with the actual part) to assist in
discovering the collision-free path.
c. You can return the part to its last valid, collision-free position by clicking the second Magnet icon
to allow you to attempt alternatives from that last position.

d. Click the Magnet icon again to deactivate Magnet point functionality.

12. In the Path Optimization section, optimize the path either by Distance or by Desired Clearance:
• Distance—attempts to minimize the distance traveled by the objects when planning paths.

Select Quick or Precise.

• Desired Clearance—attempts to centralize the path traveled by the objects when passing between
obstructions.

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The values of the Near Miss Value column are taken from the near miss values of the active
collision sets in the Collision Viewer; these represent a collision-free path. When running Desired
Clearance optimization:
◦ Assembly Automatic Path Planner attempts to find a path that passes even further away from the
objects than their near miss values. It does this in an iterative process by increasing the clearance
by Clearance Step Size up to the Desired Clearance values you set (if possible), thus defining
the optimal path. The Clearance area is considered part of the object for collision calculations.
◦ Assembly Automatic Path Planner enables you to define the size of the buffer surrounding
dynamic objects in the Assembly Automatic Path Planner. If possible, the path ensures that
the Desired clearance surrounding the moving object buffer does not touch or enter the
Clearance area surrounding the static objects. If this is not possible, the system allows the
Desired clearance to touch or enter the Clearance area.
•
13. In Path Optimization, click Reset if you wish to discard the results of Assembly Automatic Path
Planner and revert to the initial path configuration.

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 Assembly Automatic Path Planner Settings

Note
If you wish to run Path Planning and Path Optimization in an all-in-one process, click Do Both in the
Path Planning + Optimization section. Alternatively, you can click Plan and then Optimize.
7 axes robots are not supported by Assembly Automatic Path Planner.

Assembly Automatic Path Planner Settings

Procedure

1. Click General Settings.

For Object Flow Operations, the General Settings appears as follows:

For operations with assigned robots, the General Settings appears as follows:

2. Set Backup Operations if you wish to create a backup of the selected operations before running
Assembly Automatic Path Planner.
The backup operation is named <Original_Name>_backup and is located next to the original
operation.

Note
Reset does not revert backed up operations.

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3. Set Segment plan timeout if you wish to set a time limit for calculating each segment of the path.
If the system has not performed optimization for the current segment by the end of this time, it
abandons the segment and moves to the next one. By default, this setting is not active. Checking
Segment plan timeout, enables the default time of 1800 seconds - you can then set the timeout as
you wish.
4. Click Restore to reset the default values if you are not satisfied or Close when you have finished.
5. From the Robot listbox, select the robot with the joints that you wish to configure. The dropdown list
displays the robots assigned to operations you selected in Assembly Automatic Path Planner.
6. Assign relative weights to the joints of the selected robot.

Note
The Joints Weights dialog box also displays external joints and enables you to configure relative
weights for them.

This causes Assembly Automatic Path Planner to allocate higher priority to moving joints with a
higher relative weight – value between 0 and 10. For example, when a workflow necessitates
accessing weld points in a crowded environment, you can assign a higher relative weight to a robot
joint that rotates the weld gun. This causes the Assembly Automatic Path Planner to select it over a
joint with a lower relative weight that moves the robot arm. The resulting path is more likely to avoid
collisions in a restricted area.
7. Click the Zones button.

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8. Check one of the following:

• Apply settings to all motion types - The zone definitions you are about to add relate to both linear
and joint motion.
Or
• Define separately for different motion types - Select the motion type (Linear or Joint) from the
dropdown list and add zone definitions for the specified motion type.
9. Add zone definitions, as follows:
• Click Add.
A new line appears with a new zone definition.
• From the Zone dropdown list, select the zone definition you wish to add.
10. If necessary, select a zone definition from the zone list and click Remove.

Note
• The zones for the default robot controller are: Fine, medium, coarse, and nodecel. For
customized robot controllers, refer to the product documentation for the relevant zones.

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• In the Zones list, the first zone must correspond to the "fine" zone. All larger zones must be listed
in ascending order (from small to large).
• The number of Zones in the list affects calculation time. It is recommended to add up to four
zones to the list.

Swept Volume

Object and Robot Swept Volumes

A swept volume is the entire 3D space through which a specified object passes. The Swept Volume
commands create Swept Volume Objects which can be used in the process planning stage to facilitate
positioning of objects in optimal locations. There are three swept volume commands:

• Object Swept Volume—Creates a swept volume for the specified resource or part (including its
assemblies). This command works both when running in Line Simulation mode (for example creating a
swept volume for an AGV) and Standard mode. It is necessary to run a simulation, after which you can
specify when to begin creating the swept volume. The command output is stored as scene data.
• Swept Volume—Creates a swept volume of the space through which a robot and its assemblies travel
when performing a specified operation. This is useful when multiple robots participate in a single
process and work on the same parts, as it is necessary to locate robots in close proximity. This command
works when running in Standard mode, however, when running in Line Simulation mode, you cannot
create a Swept Volume for the line operation.
You can list any combination of robotic programs or operations in the Swept Volume command to
produce multiple Swept Volume Objects.
The Swept Volume command operates on robotic programs and the following types of robotic
operations: Weld, Pick and place, Mounted Workpiece, and Continuous, and also on Object Flow
Operations. If you select a compound operation as the target for the Swept Volume command, the
command operates only on those types included in the compound and omits others. The command
does not work on robotic operations which do not yet have an assigned robot.
The Swept Volume command takes all parts/resources attached to the robot into consideration during
the simulation, as well as Blank/Display and Attach/Detach events.
• Human swept volume

After performing Teamcenter Update with the Process option selected, the Swept Volume is stored as a
ProcessSimulateSweptVolume dataset attached to a Teamcenter operation.

Note
• The generated swept volume may be larger than the requested one by any amount up to the
configured accuracy (positive deviation) or smaller than the requested one (negative deviation). In
some cases, a negative deviation may have unintended results. For example, a suitable simulation
runs (no collisions) and yet the collision of a real robot on the factory floor still occurs. To prevent
negative deviations, set Auto-inflate created Swept Volumes by Accuracy in the Motion tab.

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• The sampling time interval for creating Swept Volume Objects is never greater than that defined
for simulating operations (refer to Sequence Editor) and may be less if required (to meet accuracy
requirements). It is never more than 0.05 seconds.

Create Object Swept Volume

Procedure

1. Choose Operation tab → Volumes group → Object Swept Volume .

2. Pick resources and/or parts in the system viewers and click to add them to the Objects list.

Note
If you had selected resources and/or parts prior to launching the Object Swept Volume dialog box,
they are preloaded.

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 3. Set the Accurate/Fast slider to correspond to the desired balance you require between speed and
accuracy when creating the Swept Volume Object.The maximum error allowed between the Swept
Volume Object and its theoretical values (for the chosen setting) is displayed above the slider
(measured in the units defined in the Linear setting in the Units tab). By default, this is set to
60 millimeters (or equivalent, if different units are in use) and can be adjusted in steps of 1 millimeter
(or equivalent). Typically, you can choose a fast speed for the initial analysis and repeat the process
later with greater accuracy in order to fine-tune it for accurate results. The position of the slider is
stored for the next session.
4. Optionally, move the slider to less than 10 mm to activate High accuracy. The slider is highlighted in
yellow.

High accuracy is useful, for example, to check the precision of the Swept Volume results or to
investigate possible performance issues, after which the accuracy can be set according to workflow
needs. This impacts performance and may increase the time required to generate the Swept Volume.
You can click Stop at any stage to abort the process.
5. Set the desired Safety Clearance. This is the amount (measured in the units defined in the Linear
setting in the Units tab) automatically added to the new Swept Volume Objects. For example, you
might wish to add 60 cm so that all your calculations made using Swept Volume Objects take into
account the possibility of workers in the vicinity of the robot. This will always provide an extra 60
cm of space to ensure sufficient clearance between robots and workers.The default value for Safety
Clearance is 0 units. The arrows in the Safety Clearance box adjust the selected value in increments
of 10 units. The last value is stored for the next session.
6. If you wish to include robot cables in the calculation, check Include cables. Otherwise, clear it.
7. Run the simulation.
8. When the simulation reaches the point from which you wish to start creating the swept volume,
activate the Collect button. For example, you may wish to create a swept volume for Robot2, in
which case you can omit the part of the operation where Robot1 is active. The system tracks the
simulation and collects the data it needs to create the swept volume. Click Collect again when the
simulation reaches the point at which you wish to stop creation of the swept volume.
9. Click Create. The application creates Swept Volume Objects for each of the specified parts and
resources.
The Swept Volume is displayed in the Graphic Viewer and Object Viewer.

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 Create a Swept Volume object

The color of the Swept Volume Object is controlled by the New Objects Colors setting, as defined
in the Appearance tab. The naming convention of the Swept Volume Object is as follows: <resource/
part name>_<accuracy><accuracy units>_<Clearance><clearance units>_Volume# (where #
indicates an index number added if a Swept Volume Object by that name already exists - for example,
if the name of the resource or part is not unique). For example, Bracket_60mm_Volume1. If Safety
Clearance is set to 0: <resource/part name>_<accuracy><accuracy units>_Volume#.
10. Click Close to close the Object Swept Volume dialog box.

Create a Swept Volume object

Procedure

1. Choose Operation tab → Volumes group → Swept Volume or Robot tab → Volumes group →
Swept Volume .
The Swept Volume dialog box is displayed:

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 2. Add robotic programs and/or operations to the Operations and Programs list, as follows: In the Path
Editor, select robotic programs and in the Object Viewer or Graphic Viewer, click robot operations.
These are the items for which to create Swept Volume Objects.

Note
If you had selected programs and/or operations prior to opening the Swept Volume dialog box,
they are preloaded.

3. To add multiple robotic programs to the Swept Volume command, first open Robotic Program
Inventory, click Open in Path Editor to add the desired program to the Path Editor, and then add the
program to the Swept Volume command. Repeat this process for all the desired programs.

4. Select a program or operation in the Operations and Programs list and click or to set its
desired order for Swept Volume Object creation.

Note
Consider the order carefully to achieve useful results.

5. Set the Accurate/Fast slider to correspond to the desired balance you require between speed and
accuracy when simulating the Swept Volume Object.The maximum error allowed between the
simulated Swept Volume Object and its theoretical values (for the chosen setting) is displayed above
the slider (measured in the units defined in the Linear setting in the Units tab of the Options
dialog). By default, this is set to 30 millimeters (or equivalent, if different units are in use) and can be

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 adjusted in steps of 1 millimeter (or equivalent). Typically, you can choose a fast speed for the initial
analysis and repeat the process later with greater accuracy in order to fine-tune it for accurate results.
The position of the slider is stored for the next session.
6. Optionally, move the slider to less than 10 mm to activate High accuracy. The slider is highlighted in
yellow.

High accuracy is useful, for example, to check the precision of the Swept Volume results or to
investigate possible performance issues, after which the accuracy can be set according to workflow
needs. This impacts performance and may increase the time required to generate the Swept Volume.
You can click Stop at any stage to abort the process.
7. Set the desired Safety Clearance. This is the amount (measured in the units defined in the Linear
setting in the Units tab of the Options dialog) automatically added to the new Swept Volume
Objects. For example, you might wish to add 60 cm so that all your calculations made using
Swept Volume Objects take into account the possibility of workers in the vicinity of the robot.
This will always provide an extra 60 cm of space to ensure sufficient clearance between robots and
workers.The default value for Safety Clearance is 0. The arrows in the Safety Clearance box adjust
the selected value in increments of 10. The last value is stored for the next session.
8. Check Reset simulation between items to reset the position of parts, robots, and resources after
each Swept Volume Object is created. This causes parts, robots, and resources to return to the
positions they held prior to the creation of the current Swept Volume Object. To avoid resetting these
positions, clear Reset simulation between items.
For example, if one robot picks up an item and moves it to a location from which a second robot
retrieves it, and you wish to create Swept Volume Objects for both of these robot programs, clear
Reset simulation between items. Otherwise, after creating the Swept Volume Object for the first
robot program, the item returns to its original location before the second Swept Volume Object is
created.

Note
Consider carefully whether or not this function will create useful results.

9. If you wish to include robot cables in the calculation, check Include cables. Otherwise, clear it.
10. Click Create.
The application creates Swept Volume Objects for each of the selected operations and displays a new
progress bar for each iteration.

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 If one of the selected operations already has a Swept Volume Object, you are prompted to overwrite
it. While the operation is in progress, the Create button transforms to a Stop button.
Swept Volume Objects are displayed in the Graphic Viewer, Object Viewer, and Relations Viewer.

The color of the Swept Volume Object is controlled by the New Objects Colors setting, as defined
in the Appearance tab of the Options dialog. The naming convention of the Swept Volume Object
is as follows: <operation/program name>_<accuracy><accuracy units>_<Clearance><clearance
units>_Volume# (where # indicates an index number added if a Swept Volume Object by that
name already exists - for example, if the name of the program or operation is not unique).

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 Delete a robot Swept Volume Object

For example, Bracket_30mm_Volume1. If Safety Clearance is set to 0: <operation/program

name>_<accuracy><accuracy units>_Volume#.
11. Click Close to close the Swept Volume dialog box.

Delete a robot Swept Volume Object

• Select the Swept Volume Object you wish to delete in the Graphic Viewer or the Object Viewer and
choose Home tab → Edit group → Delete.

Note
• You cannot delete Swept Volume Objects by selecting them from the Relations Viewer.
• If you delete an operation, its Swept Volume Object is also deleted.
• Swept volumes cannot be cut, copied or pasted from, or into another operation.
• Notes can be applied to a Swept Volume Object.

A Swept Volume Object can participate in a collision set, and can be checked for collision during
simulation.

Interference volume
The Interference Volume command creates a 3D object representing the intersection between one Swept
Volume and another. You can use the interference volume in the process planning stage to facilitate
positioning of robots in optimal locations. This is especially useful when robots participate in a single
process and work on the same parts, in which case, it is necessary to locate robots in close proximity.

Create interference volumes

Procedure

1. Choose Robot tab → Volumes group → Interference Volume .

The Interference Volume dialog box is displayed:

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 2. In Swept Volume 1 and Swept Volume 2 select swept volumes from the Graphic Viewer, Object
Viewer, or Relations Viewer.

Note
• If you selected swept volume(s) before launching the Interference Volume dialog box, Swept
Volume 1 and Swept Volume 2 are populated with the relevant names.
• If you select more than two swept volumes or objects that are not swept volumes, Swept
Volume 1 and Swept Volume 2 remain empty.

3. The system automatically populates the Name field with the names of the parents of the selected
swept volumes. You can edit the name if you wish.

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 4. Click Create.
The system calculates the intersection of the selected swept volumes. Depending on the complexity
of the swept volumes and your system resources, this may take a while (a progress bar is displayed
during the calculation). When the calculation is complete, the system creates an interference volume
and displays it in red (by default). For information on how to configure the color of interference
volumes, see the New Objects Colors field in Appearance tab tab .

Note
• If there is already an interference volume for the selected swept volumes, the system prompts
you to overwrite the current interference volume. A single swept volume can participate in
multiple interference volumes by pairing with different swept volumes.
• If the selected swept volume(s) is blanked, the system unblanks it.
• If the selected swept volumes do not intersect, the system creates an interference volume
without geometry (an empty interference volume) and prompts you to delete the new volume.
• If you update a swept volume, for example you increased the safety clearance for the parent
operation, you also need to create the interference volume again to reflect the change.
• Clicking Stop while the calculation is running aborts the operation.
The system rolls back any changes it has already made.

5. Optionally, you can perform any of the following:

• Rename or delete the interference volume.
• Change color, set transparency, blank/unblank the interference volume.
• Use the interference volume in the Collision Viewer Snapshot Editor.

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 Note
You cannot perform any of the following on interference volumes:

• Set Modeling Scope

• Placement Manipulator
• Moving, duplicating, and attaching interference volumes
• Adding kinematics and logic to interference volumes
• Load Entity Level
• Load PMI

Dummy Interference Volumes

If both the parents of an interference volume are not currently loaded in Process Simulate, the system
inserts a dummy (non-functional) interference volume. Removing the dummy enables you to delete
superfluous relations to parents and related JT files before updating the server. This situation can arise if,
for example, one parent has been deleted or was not loaded. Dummy interference volumes are displayed
with an exclamation mark overlay .

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 Apply Path Template

Apply Path Template

Process Simulate enables you to define operation actions in an XML template and apply the actions to
multiple operations or to specified components. You can set parameters and OLP commands for locations,
add approach and depart via locations, and set their coordinates. You can define many actions in the
XML template and apply them with a single click, saving repetitive manual configuration, increasing
productivity, and reducing errors.

The robotic templates are XML files stored in dedicated folders. Each robot controller has
a folder for its template files which is created during controller installation and is located

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To apply a path template to operations:

under \eMPower\Robotics\Olp\<Controller name>\PathTemplateConfiguration\. For information on how

to compose robotic path template files, refer to the Robotics Customized User Interface Manual
documentation.

To apply a path template to operations:

Procedure

1. Choose Operation tab → Templates group → Apply Path Template .

The Apply Path Template dialog box opens in Operations mode.

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 To apply a path template to operations:

2. Select one or more robotic or compound robotic operations either before launching Apply Path
Template or after it displays. All the operations must be assigned to the same robot.
3. Click Select to display the Select template action to apply list, select an action, and click Set.
4. Click Refresh to refresh the Apply Path Template dialog box and reread the customized OLP, motion,
data, and pathTemplate XML files.If necessary, make further changes to the XML files and click
Refresh again.

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To apply a path template to components:

5. Click Apply.Process Simulate applies the action and displays a log file describing the status of the
action.
6. When the Action Filter Results are displayed, click Close.

7. Apply more actions, as required.

8. Click OK to close the dialog box.

To apply a path template to components:

Procedure

1. Select a robot.

2. Choose Operation tab → Templates group → Apply Path Template .

The Apply Path Template dialog box opens in Components mode.

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 To apply a path template to components:

3. Pick components in the Graphic Viewer.

The specified components are listed.

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To apply a path template to components:

4. Click Select and specify the required template action.

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 To apply a path template to components:

The Action Description displays a summary of the specified action. For example, setting the robot
TCPF to approach the components in a particular orientation.

5. Generate placement locations and perform sequencing, as follows:

a. Click OK to confirm the specified components.
Or
Click Apply and then click Clear. You can now specify additional components and specify a
different template action.
For example, one template setting may cause the robot to grab a component length-wise:

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To apply a path template to components:

and another template setting may cause the robot to grab a component width-wise:

Click OK.

Note
The system uses the components' self-frame as a reference for the locations in the new
operation. This is useful for automatically setting grasping locations for the components.

b. When the Action Filter Results are displayed, click Close.

Process Simulate creates an operation consisting of a list of locations for each specified
component.

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 To apply a path template to components:

c. Optionally, do any of the following in the Path Editor:

• Reorder the locations
• Rename the locations.
• Move locations from one operation to another.
• Select a location and run Move to location to view how the robot moves to that location.
6. Generate a placement operation:
As the new operation is only a list of locations, it needs to be converted to a meaningful operation
that can be executed by the robot. Select the new operation(s) and launch Apply Path Template
again - this time, as you have pre-selected an operation, it opens in Operations mode, as described
above. For example, you can specify a template action that moves the robot to its home pose, then
to a location, and then back to its home pose. This way, Process Simulate creates separate operations
for each location (where the robot moves to the home pose and collects a component, moves to the
location and places the component, and returns to its home pose).

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Set Template and Keywords

Set Template and Keywords

The Set Template and Keywords command enables you to assign different templates to robots and/or
robotic operations, set the configuration of the files downloaded to the robot, add various user data to
the downloaded files, and provide customized content/formatting to operations downloaded to robots.
For information on how to edit XML templates, refer to the Robotics Customized User Interface Manual
documentation.

Note
Process Simulate enables setting customized templates for both robots and operations. The priority of
template selection during operation download is as follows:

• If the operation has an assigned template, this template is used with the highest priority.
• Otherwise, if the robot has an assigned operation template, this template is used.
• If neither the operation nor the robot have assigned operation templates, the system loads the default
operation template for that controller type during download and issues a warning message. The
default template is shipped as an integral part of every controller distribution.

If an operation has an assigned template that is currently unavailable, the template name remains in the
Path Editor Template column; a warning message is logged during download and the default template
is used.

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 Procedure

1. Select a robot or robotic operations. If you select a robot, the changes you make affect all the
operations assigned to the selected robot.

2. Choose Operation tab → Templates group → Set Template and Keywords .

The Set Template and Keywords dialog box appears.

3. Select a Template and click OK.

The system populates the Set Template and Keywords dialog box with data from the selected
template.

4. Set values for the Robot Keywords and Operation Keywords.

When downloading data to the robot, Process Simulate substitutes the selected values for the
keywords.

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Edit Event

Note
• If you selected a robot when launching the command, the Operation Keywords area does not
appear.
• The keywords in the dialog box are set in the template XML file. For information on how to edit
the template XML file, refer to the Robotics Customized User Interface Manual documentation.

5. If you wish to copy keywords from a different template, click Copy from.
The Copy Template and Keywords dialog box appears.

6. Select any weld, continuous, pick and place, or generic operation assigned to the selected robot
or to the robot to which the selected operations are assigned. The Template field is updated and
the system populates the Set Template and Keywords dialog box with data from the alternative
template.
7. Click OK.
The system saves the template on the robot/operation(s), robot keywords on the robot, and the
operation keywords on the operation(s).

Note
Operations' templates are also visible in the Path Editor.

Edit Event

The Edit Event option enables you to edit the parameters of a selected event. The parameters of an event
vary according to the type of event. To edit an event, the operation in which the event appears must be set
as the current operation. Refer to Set Current Operation and Sequence Editor for more details.

Note
The Edit Event dialog box reflects both the name and parameters of the type of event selected. For
example, when you edit a display event, the Display Objects dialog box is displayed with the parameters
specific to that display event. When you edit a blank event, the Blank Objects dialog box is displayed
with the parameters specific to the selected blank event, and so on.

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 Procedure

1. In the Object Viewer, select the required operation and set it as the current operation. The selected
operation is displayed in both the Tree area and the Gantt Chart area of the Sequence Editor.
2. In the Gantt Chart area, select the event that you want to edit and choose Operation tab → Events
group → Edit Event.

The selected event is highlighted in blue and the cursor changes to when selecting events in the
Gantt chart. The Event dialog box is displayed with the type of event and operation name displayed
in the title bar. The following dialog box is displayed when you edit an attach event for the operation,
CompOp1:

3. Edit the fields as required and click OK to save your changes.

To edit a view point event:

Procedure

1. In the Object Viewer, select the required operation and set it as the current operation. The selected
operation is displayed in both the Tree area and the Gantt Chart area of the Sequence Editor.
2. In the Gantt Chart area, select the event that you wish to edit and choose Operation tab → Events
group → Edit Event.
The following dialog box is displayed when you edit a view point event:

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 3. Click the Update event according to current view point checkbox to set the current view point as
the one to attach to the event.

To edit an emphasize or de-emphasize event:

Procedure

1. In the Object Viewer, select the required operation and set it as the current operation. The selected
operation is displayed in both the Tree area and the Gantt Chart area of the Sequence Editor.
2. In the Gantt Chart area, select the event that you want to edit and choose Operation tab → Events
group → Edit Event.

The selected event is highlighted in blue and the cursor changes to when selecting events in the
Gantt chart. The Emphasize Objects or De-emphasize Objects dialog box is displayed.

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 Simulation Events

3. Edit the fields as required and click OK to save your changes.

Simulation Events

Adding Simulation Events to Operations

You can add various simulation events to operations at selected points in time. Before adding any event
to an operation, you must first set the required operation as the current operation. Refer to Set Current
Operation for more details.

• Attach - Attaches a component to another component during the selected operation. This event enables
a model or assembly line to move one or more components from one place to another.
• Detach - Breaks an attach event, meaning it separates attached components. This event enables an
object attached by an attach event to be detached and left at its required destination.
• Display - Displays an object that was previously blanked during the selected operation in the Graphic
Viewer.
• Blank - Hides an object that was previously displayed during the selected operation in the Graphic
Viewer.
• Activate Collision Sets - Activates collision sets at selected points in the simulation. After adding the
desired collision sets to the event, the activate collision sets event activates the collision sets at the
configured time when simulating the selected operation.
• Deactivate Collision Sets - Deactivates collision sets at selected points in the simulation. After adding
the desired collision sets to the event, the deactivate collision sets event deactivates the collision sets at
the configured time when simulating the selected operation.

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Adding Simulation Events to Operations

• View Point - Adds a view point to an operation at a selected point in time. A view point event defines a
view point at a specified time in an operation, allowing you to view the simulation from a specific point.
The current view point is the view point that will be added.
• Emphasize - Emphasizes operation objects at a selected point in a simulation. This enables you to
configure the color and transparency of selected objects. The selected objects remain emphasized until
the next Emphasize or De-emphasize event. Emphasize events are represented by a colored diamond in
the Gantt Chart area of the Sequence Editor.

Note
The parameters set by the Emphasize Objects command are of a lower priority than all other display
parameters. If, for example, an object is colored red because it is in a state of collision, it remains
red after applying the Emphasize Objects command. It only reverts to the color set by the Emphasize
Objects command when the collision state is resolved.

• De-emphasize - After adding an Emphasize event to your simulation, you can add a De-emphasize
event at a later stage in the simulation. This resets the color and transparency of the selected objects to
their settings before the Emphasize event. De-emphasize events are represented by a colored diamond
in the Gantt Chart area of the Sequence Editor.

Note
◦ If there have been several Emphasize events during the simulation, a De-emphasize event restores
the settings to their original values (as they were before the first Emphasize event).
◦ The De-emphasize Objects command only affects parameters set by the Emphasize Objects
command. If, for example, an object is colored red because it is in a state of collision, it remains
red after applying the De-emphasize Objects command. It only reverts to its original color when the
state of collision is resolved.

• Snapshot - Attaches a snapshot at a specified time in an operation.

• Signal - Sets the value of a signal. Signal values are either True or False. Signal events are only
relevant when running the study type is Line Simulation mode. The following conditions apply to event
execution during different simulation types:
◦ During event-based (CEE) simulation, event execution operates as follows:
◊ For events that are not related to objects (for example, pause and signal events), the execution
time is calculated from the start time of the first operation in the compound in each cycle.
◊ Process Simulate does not execute object-related events of compound operations (for example,
blank, display, attach, and detach).
◊ Process Simulate executes all events of leaf operations (for example, flow, weld, and non-sim
operations) as usual.
◦ During OPC simulation, Process Simulate does not execute the simulation events in compound
operations.
• Add to Group - Adds specified objects to a specified group. This is equivalent to interactively dragging
components in the Object Viewer to a compound object (for example, a compound resource or a
compound part).

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 Add an Attach or Detach Event

• Remove from Group - Removes an event from a selected group by selecting the group and the event
to be removed from the Gantt chart. The event removes the specified objects from their group. This
is the same as interactively dragging components in the Object Viewer out of a compound object (for
example, a compound resource or a compound part).
• Create Opposite Event - Adds an additional event to the Gantt chart. The command enables you to
create the opposite event of the one selected, keeping the same parameters of the selected event. When
the command is selected the Event dialog of the opposite event is displayed, with the same objects and
time settings as the selected event.

Note
The Create Opposite Event command removes all color changes that were applied by the Emphasize
Event command. To remove manual color changes created by an Emphasize Event command for a
specific part of the simulation, run a De-emphasize Event command.

The Create Opposite Event command is only available for the following events:
◦ Blank Event
◦ Display Event
◦ Attach Event
◦ Emphasize Event
◦ Activate Collision Set
◦ Deactivate Collision Set
• Pause - Halts operation processing at a specific time.

Note
If you are assigning a part with static appearances to an event, always select the primary appearance. If
you select any other appearance, Process Simulate automatically exchanges the selected appearance for
the primary appearance (or the original part if no appearance is set as primary). For more information,
refer to Multiple Part Appearance.

Add an Attach or Detach Event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Attach Event or Detach Event.

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 The selected operation is highlighted in blue and the cursor changes to when selecting events to
add in the Gantt chart. The Attach Event or Detach Objects dialog box is displayed with the name of
the selected operation in its title bar.

3. Click in the Objects to Attach or Objects to Detach field, and then select the object(s) in the Graphic
Viewer that you want to attach or detach during the operation.The cursor changes to when
selecting objects in the Graphic Viewer. The name(s) of the selected object(s) is displayed in the
Objects to Attach or Objects to Detach field.
4. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the object(s) to be detached, and then select either After Start Of Task or Before End Of Task.
5. Click OK.
The attach or detach event, indicated by a red marker, is added to the selected operation in the Gantt
Chart area at the time specified.

Note
To delete an event, right-click it in the Gantt chart and choose Delete. (The selected event is
colored blue and the cursor changes to when selecting events to delete in the Gantt Chart
area.) The selected event is deleted from the operation.

You can change the time an event occurs by dragging the event to the left or right in the Gantt chart.
For compound operations, you can drag an event past the end of the compound operation and it will
occur at the end of the compound operation. For single operations, you cannot drag the event past
the end of the operation.

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 Add a display event

You can shorten or lengthen the time of an operation by dragging the end of the operation to the
left or right in the Gantt chart. For a compound operation, you cannot shorten the operation to end
before the last event that is attached to it. For a single operation, if you shorten the operation to end
before any events that are attached to it, these are moved to the end of the operation.

Add a display event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Display Event from the context menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events to
add in the Gantt chart. The Display Objects dialog box is displayed with the name of the selected
operation in its title bar.

3. Click in the Objects to Display field, and then select an object(s) in the Graphic Viewer that you
want the event to display.The cursor changes to when selecting objects in the Graphic Viewer. The
name(s) of the selected object(s) is displayed in the Objects to Display field.
4. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the object(s) to be displayed, and then select either After Start Of Task or Before End Of Task.
5. Click OK.
The display event, indicated by a red marker in the Gantt chart, is added to the selected operation at
the time specified.

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Add a blank event

You can change the time an event occurs by dragging the event to the left or right in the Gantt chart.
For compound operations, you can drag an event past the end of the compound operation and it will
occur at the end of the compound operation. For single operations, you cannot drag the event past
the end of the operation.
You can shorten or lengthen the time of an operation by dragging the end of the operation to the
left or right in the Gantt chart. For a compound operation, you cannot shorten the operation to end
before the last event that is attached to it. For a single operation, if you shorten the operation to end
before any events that are attached to it, these are moved to the end of the operation.

Add a blank event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Blank Event from the context menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events
to add in the Gantt chart. The Blank Objects dialog box is displayed with the name of the selected
operation in its title bar.

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 Add and configure activate collision sets events

3. Click in the Objects to Blank field, and then select an object(s) in the Graphic Viewer that you want
the event to blank.

The cursor changes to when selecting objects in the Graphic Viewer. The name(s) of the selected
object(s) is displayed in the Objects to Blank field.
4. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the object(s) to be blanked, and then select either After Start Of Task or Before End Of Task.
5. Click OK.
The blank event, indicated by a red marker in the Gantt chart, is added to the selected operation at
the time specified.
You can change the time an event occurs by dragging the event to the left or right in the Gantt chart.
For compound operations, you can drag an event past the end of the compound operation and it will
occur at the end of the compound operation. For single operations, you cannot drag the event past
the end of the operation.
You can shorten or lengthen the time of an operation by dragging the end of the operation to the
left or right in the Gantt chart. For a compound operation, you cannot shorten the operation to end
before the last event that is attached to it. For a single operation, if you shorten the operation to end
before any events that are attached to it, these are moved to the end of the operation.

Add and configure activate collision sets events

Procedure

1. Right-click the required operation in the Sequence Editor and choose Activate Collision Sets Event.
The Activate Collision Sets Event dialog box is displayed listing the collision sets defined in the
current scene.

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 2. Using the arrow buttons in the center of the dialog box, configure the Collision Sets to activate list.
The collision sets in this list are activated when the activate collision sets event occurs. Collision sets
that remain in the Available Collision Sets list are not affected when the activate collision sets event
occurs.
3. If you do not recognize a particular collision set by its name, select it and click Emphasize Collision

Set .
The collision set is emphasized in blue and yellow in the Graphic Viewer.
Click the icon again to resume normal viewing.

Note

The Emphasize Collision Set icon is activated when a single collision set is selected. When
multiple collision sets are selected, it is disabled.

4. Configure the start time of the activate collision sets event relative to the beginning or end of the
task:
• Select the Start Time value (in seconds).
• Select After Start of Task or Before End of Task from the dropdown list.
5. To configure an existing activate collision sets event, double-click it.

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 6. Click OK. The activate collision sets event, indicated by a red marker in the Gantt chart, is added to
the selected operation at the time specified.You can change the time the event occurs by dragging it
to the left or right in the Gantt chart.

Note
While the Activate Collision Sets Event dialog box is open, you cannot create and edit collision sets.

Add and configure deactivate collision sets events

Procedure

1. Right-click the required operation in the Object Viewer and choose Deactivate Collision Sets Event.
The Deactivate Collision Sets Event dialog box is displayed, listing the collision sets defined in the
current scene.

2. Using the arrow buttons in the center of the dialog box, configure the Collision Sets to deactivate
list. The collision sets in this list are deactivated when the deactivate collision sets event occurs.

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 Collision sets that remain in the Available Collision Sets list are not affected when the deactivate
collision sets event occurs.
3. If you do not recognize a particular collision set by its name, select it and click Emphasize Collision

Set .
The collision set is emphasized in blue and yellow in the Graphic Viewer.
Click the icon again to resume normal viewing.

Note

The Emphasize Collision Set icon is activated when a single collision set is selected. When
multiple collision sets are selected, it is disabled.

4. Configure the start time of the deactivate collision sets event relative to the beginning or end of the
task:
• Select the Start Time value (in seconds).
• Select After Start of Task or Before End of Task from the dropdown list.
5. To configure an existing deactivate collision sets event, double-click it.
6. Click OK. The deactivate collision sets event, indicated by a red marker in the Gantt chart, is added to
the selected operation at the time specified.You can change the time the event occurs by dragging it
to the left or right in the Gantt chart.

Note
While the Deactivate Collision Sets Event dialog box is open, you cannot create and edit collision sets.

Add a view point event

Procedure

1. Select the required operation in the Gantt Chart area, and then select View Point.

The selected operation is highlighted in blue, and the cursor changes to . The View Point Event
dialog box is displayed with the name of the selected operation in the Title bar.

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 Add an emphasize event

2. Select Apply At Once to apply the View Point event at once. To apply the View Point gradually,
select Apply in Steps. The event is applied according to the number of steps specified in the adjacent
Number of Steps field.
3. Type a description of the View point event in the Description field. This text is displayed in the tooltip
describing the event.
4. In the Start Time field, specify the start time of the event. Select the time in seconds that you want
the view point to be attached to in the operation, and then select either Before End of Operation or
After Start of Operation from the drop down list to configure the parameters of the specified time.
5. Click OK.
The View Point event, indicated by the diamond shape in the Gantt chart, is added to the selected
operation at the time specified.

Add an emphasize event

Procedure

1. Select a single or compound operation in the Gantt Viewer and set it as the current operation. The
selected operation and any of its suboperations are displayed in both the Tree area and the Gantt
Chart area of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Emphasize Event from the context
menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events to
add in the Gantt chart. The Emphasize Objects dialog box is displayed.

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Add a de-emphasize event

3. Select an Emphasize Color and set the Transparency for the emphasized object(s).
4. Click in the Objects to emphasize list and click objects in the Graphic Viewer, Object Viewer or the
Relations Viewer or to add them to the list.
5. To choose a starting time, set the Start Time and select either Before End of Task or After Start of
Task.
6. Click OK to save the event.

Add a de-emphasize event

Procedure

1. Select a single or compound operation in the Gantt Viewer and set it as the current operation. The
selected operation and any of its suboperations are displayed in both the Tree area and the Gantt
Chart area of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation, and choose De-emphasize Event from the context
menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events to
add in the Gantt chart. The De-emphasize Objects dialog box is displayed.

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 Add a snapshot event

3. Click in the Objects to de-emphasize list and click objects in the Graphic Viewer, Object Viewer or
Relations Viewer to add them to the list.
4. To set a starting time, set the Start Time and select either Before End of Task or After Start of Task.
5. Click OK to save the event.

Add a snapshot event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, select the operation, and then select New Snapshot Event.

The selected operation is highlighted in blue and the cursor changes to when selecting events to
add in the Gantt chart. The Snapshot Event Objects dialog box is displayed with the name of the
selected operation in its title bar.

3. Click in the Snapshot to apply field, and then select a snapshot in the Snapshot Editor that you want
to attach during the operation.
The name of the selected object snapshot is displayed in the Snapshot to apply field.

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Add a signal event

Note
You can also select the required snapshot from the Snapshot to apply dropdown list. This list
includes all snapshots created from the engineering data.

4. Select how to apply the snapshot event from the following:

• Apply at Once: The snapshot event is applied at once.
• Apply in Steps: The snapshot event is applied gradually, according to the number of steps specified
in the adjacent Number of Steps field. This method provides a nicer look when the sequence is run
and the snapshot image appears gradually in the Graphic Viewer.
5. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the snapshot to be attached, and then select either After Start Of Task or Before End Of Task.
6. Click OK.
The snapshot event, indicated by a red marker in the Gantt chart, is added to the selected operation
at the time specified.

Note
To delete an event, right-click it in the Gantt chart and choose Delete. (The selected event is
colored blue and the cursor changes to when selecting events to delete in the Gantt chart.) The
selected event is deleted from the operation.
You can change the time an event occurs by dragging the event to the left or right in the Gantt
chart. For compound operations, you can drag an event past the end of the compound operation
and it will occur at the end of the compound operation. For single operations, you cannot drag the
event past the end of the operation.
You can shorten or lengthen the time of an operation by dragging the end of the operation to the
left or right in the Gantt chart. For a compound operation, you cannot shorten the operation to end
before the last event that is attached to it. For a single operation, if you shorten the operation to
end before any events that are attached to it, these are moved to the end of the operation.

Add a signal event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Signal Event from the context menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events
to add in the Gantt chart. The Signal Events Objects dialog box is displayed with the name of the
selected operation in its title bar.

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 Create an add group event

3. Select a signal from the Signal to generate / connect List.

4. Set a value for the signal by selecting one of the following options:
• Set to TRUE
• Set to FALSE
5. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the signal event to be generated, and then select either After Start Of Task or Before End Of Task.
6. Click OK.
The signal event, indicated by a red marker in the Gantt chart, is added to the selected operation at
the time specified.

Create an add group event

Procedure

1. Click the Add to Group Event icon and select the objects you want to add to the group.
The Add to Group dialog box is displayed.

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Adding Activate Collision Sets Events

2. Click the Group field to activate it.

3. Select the group to be the parent of the objects you have defined in the previous step.
4. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the object(s) to be attached, and then select either After Start Of Task or Before End Of Task.
5. Click OK.

Adding Activate Collision Sets Events

You can create an Activate Collision Sets Event to activate collision sets at selected points in the
simulation. After adding the desired collision sets to the event, the activate collision sets event activates
the collision sets at the configured time when simulating the selected operation.

1. Right-click the required operation in the Object Viewer and choose Activate Collision Sets Event.
The Activate Collision Sets Event dialog box is displayed listing the collision sets defined in the
current scene.

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 Adding Activate Collision Sets Events

2. Using the arrow buttons in the center of the dialog box, configure the Collision Sets to activate list.
The collision sets in this list are activated when the activate collision sets event occurs. Collision sets
that remain in the Available Collision Sets list are not affected when the activate collision sets event
occurs.
3. If you do not recognize a particular collision set by its name, select it and click Emphasize Collision

Set . The collision set is emphasized in blue and yellow in the Graphic Viewer. Click the icon
again to resume normal viewing.

Note

The Emphasize Collision Set icon is activated when a single collision set is selected. When
multiple collision sets are selected, it is disabled.

4. Configure the start time of the activate collision sets event relative to the beginning or end of the
task:
• Select the Start Time value (in seconds).
• Select After Start of Task or Before End of Task from the dropdown list.
5. To configure an existing activate collision sets event, double-click it.
6. Click OK.

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Adding Deactivate Collision Sets Events

The activate collision sets event, indicated by a red marker in the Gantt chart, is added to the selected
operation at the time specified.
You can change the time the event occurs by dragging it to the left or right in the Gantt chart.

Note
While the Activate Collision Sets Event dialog box is open, you cannot create and edit collision sets.

Adding Deactivate Collision Sets Events

You can create a deactivate collision sets event to deactivate collision sets at selected points in the
simulation. After adding the desired collision sets to the event, the deactivate collision sets event
deactivates the collision sets at the configured time when simulating the selected operation.

Procedure

1. Right-click the required operation in the Object Viewer and choose Deactivate Collision Sets Event.
The Deactivate Collision Sets Event dialog box is displayed, listing the collision sets defined in the
current scene.

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 2. Using the arrow buttons in the center of the dialog box, configure the Collision Sets to deactivate
list. The collision sets in this list are deactivated when the deactivate collision sets event occurs.
Collision sets that remain in the Available Collision Sets list are not affected when the deactivate
collision sets event occurs.
3. If you do not recognize a particular collision set by its name, select it and click Emphasize Collision

Set . The collision set is emphasized in blue and yellow in the Graphic Viewer. Click the icon
again to resume normal viewing.

Note

The Emphasize Collision Set icon is activated when a single collision set is selected. When
multiple collision sets are selected, it is disabled.

4. Configure the start time of the deactivate collision sets event relative to the beginning or end of the
task:
• Select the Start Time value (in seconds).
• Select After Start of Task or Before End of Task from the dropdown list.
5. To configure an existing deactivate collision sets event, double-click it.

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 6. Click OK. The deactivate collision sets event, indicated by a red marker in the Gantt chart, is added to
the selected operation at the time specified.You can change the time the event occurs by dragging it
to the left or right in the Gantt chart.

Note
While the Deactivate Collision Sets Event dialog box is open, you cannot create and edit collision sets.

Remove an event from a group

Procedure

1. Start the Remove from Group Event.

The Remove from Group Event dialog box is displayed.

2. Select the objects you wish to remove from the group.

3. In the Start Time field, specify the start time of the event. Select the time in seconds that you want
the view point to be attached to in the operation, and then select either Before End of Task or After
Start of Task from the drop down list to configure the parameters of the specified time.
4. Click OK.

Create an opposite event

• Right-click a supported event type (Blank, Display, Attach, or Emphasize) and choose Create Opposite
Event.

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 Add a pause event

The relevant dialog box is displayed.

Add a pause event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Pause Event from the context menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events
to add in the Gantt chart. The Pause Objects dialog box is displayed with the name of the selected
operation in its title bar.

3. Check Activated or Deactivated.

4. In the Description field, add a freehand description of your pause event.
5. In the Time field, specify the time at which the Pause event occurs. Enter the number of seconds to
elapse before pausing the operation.
6. Click OK. The Pause event, indicated by a red marker in the Gantt chart, is added to the selected
operation at the time specified.

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Delete a pause event

Delete a pause event

• Right-click the Pause event in the Gantt chart and choose Delete. The selected event is framed with a
blue perimeter or and the cursor changes to when selecting events to delete in the Gantt chart.
The selected event is deleted from the operation.

Pause events can be activated and deactivated. An activated Pause event appears in the Gantt chart as a
red circle , and a deactivated Pause event appears in the Gantt chart as a gray circle .

Activate or deactivate a single pause event

• Right-click the Pause event in the Gantt chart and choose Toggle Pause Event. The selected event is
changed from Activated to Deactivated or vice versa.

Add an attach event

Procedure

1. Select the required operation in the Object Viewer and set it as the current operation. The selected
operation and any of its suboperations are displayed in both the Tree area and the Gantt Chart area
of the Sequence Editor.
2. In the Gantt Chart area, right-click the operation and choose Attach Event from the context menu.

The selected operation is highlighted in blue and the cursor changes to when selecting events
to add in the Gantt chart. The Attach Objects dialog box is displayed with the name of the selected
operation in its title bar.

3. Click in the Objects to Attach field, and then select an object(s) in the Graphic Viewer that you
want to attach during the operation. The cursor changes to when selecting objects in the Graphic
Viewer. The name(s) of the selected object(s) is displayed in the Objects to Attach field.

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 Activate or deactivate all pause events

4. Click in the To the Object field, and then select the object in the Graphic Viewer to which you want to
attach the objects selected in the Objects to Attach field.
The name of the selected object is displayed in the To the Object field.

Note
If you select an entity, the entity's collection is automatically displayed. If the entity's collection is a
block, the lowest ancestor, a link or a component, is displayed.

5. In the Start Time fields, specify the time of the event. Select the time in seconds at which you want
the object(s) to be attached, and then select either After Start Of Task or Before End Of Task.
6. Click OK.
The attach event, indicated by a red marker in the Gantt chart, is added to the selected operation at
the time specified.
You can change the time an event occurs by dragging the event to the left or right in the Gantt chart.
For compound operations, you can drag an event past the end of the compound operation and it will
occur at the end of the compound operation. For single operations, you cannot drag the event past
the end of the operation.
You can shorten or lengthen the time of an operation by dragging the end of the operation to the
left or right in the Gantt chart. For a compound operation, you cannot shorten the operation to end
before the last event that is attached to it. For a single operation, if you shorten the operation to end
before any events that are attached to it, these are moved to the end of the operation.

Activate or deactivate all pause events

• Right-click anywhere in the Viewer and choose Activate Pause Events to activate all Pause events or
choose Deactivate Pause Events to deactivate all Pause events. All Pause events in the Sequence
Editor are activated or deactivated as requested.

Event execution during different simulation types

The following conditions apply to event execution during different simulation types:

• During event-based (CEE) simulation, event execution operates as follows:

◦ For events that are not related to objects (for example, pause and signal events), the execution time is
calculated from the start time of the first operation in the compound in each cycle.
◦ Process Simulate does not execute object-related events of compound operations (for example, blank,
display, attach, and detach).
◦ Process Simulate executes all events of leaf operations (for example, flow, weld, and non-sim
operations) as usual.

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Movie Recorder

• During OPC simulation, Process Simulate does not execute the simulation events in compound
operations.

Movie Recorder

The Movie Recorder enables you to record the action running in Process Simulate and to view the
resulting movie. Additionally, you can record other applications running on your computer, displayed on
any monitor connected to your machine.

To run the movie recorder:

Procedure

1. Choose Movie Recorder .

The Movie Recorder dialog box appears.

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 To run the movie recorder:

Perform any of the following actions from the Movie Recorder dialog box:

• - Opens the Settings dialog box.

• - Displays the time elapsed when recording a movie.

• - Starts recording.

• - Pauses recording.

• - Terminates the current recording and saves the recorded data in a movie file.

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To run the movie recorder:

• - Removes the recorded movie data from memory and resets the timer to zero.
2. To record a movie, proceed as follows:
a. Launch the Movie Recorder.

Note
The following indications are displayed:
• When recording the Graphic Viewer, the REC symbol is displayed in red in the top left
corner of the display with a flashing red spot to indicate that the system is ready to begin
recording. When recording begins, the red spot stays on (without flashing).
• When recording the Graphic Viewer, Simulation time or Real time is displayed beneath
the red spot, according to the value you configure in Movie time based on in the Settings
dialog box. For Simulation time, the Interval time is also displayed.
• When performing Screen Capture, brackets are displayed at the corners of the portion of
your display to be recorded. When recording begins, the brackets begin flashing.

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 To run the movie recorder:

b. Run the action you wish to record on your computer.

This might be a Process Simulate operation or any other action.

c. Click to begin recording.

The Movie Recorder Count Down is displayed.

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To run the movie recorder:

If you hover your mouse over the count down window, the count down is paused and the
current value flashes. Move your mouse away to resume count down. If you set Minimize
Recorder to Ribbon during the count down, the Movie Recorder controls are minimized during
recording.

Otherwise, the Movie Recorder dialog box changes to the following during recording:

During recording the red spot stays on constantly (recording the Graphic Viewer) or the corner
brackets flash (performing screen capture).

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 To run the movie recorder:

d. If you are not satisfied with the current recording,click at any time during the recording,
make any necessary adjustments to your data or recording parameters, and begin recording
again.

e. When you wish to terminate the recording, click .

The movies file is saved and the following message is displayed.

Click Yes if you wish to examine the newly-recoded movie file or No to skip this.

3. Optionally, click to configure the Movie Recorder Settings.

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To run the movie recorder:

Set any of the following parameters:

Parameter Description
Destination By default, movie files are saved in the Temp folder. You can configure a
different destination at which to store new movie files. If you select a non-
existent destination, the system displays an error message.
Format Select one of the following file formats: mp4, wmv, avi, or mkv.
Video Codec Select one of the following video codecs: MPEG-4 Part 2, MPEG-4 AVC (H264),
or MPEG-H HEVC (H265).

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 To run the movie recorder:

Parameter Description

Note
MPEG-4 AVC (H264) and MPEG-H HEVC (H265) are hardware accelerated
video codecs and are available only if your computer has an NVIDIA graphic
card that supports hardware accelerated video encoding capability.

Capture area - Select one of the following options:

Graphic Viewer Records the active Graphic Viewer at a specified standard resolution. Selecting
standard this option enables you to drag the slider to any of the preset standard video
resolution resolutions. By default, High Definition (16:9) is set. As you drag the slider,
the name of the selected resolution is displayed below the slider and its pixel
quantities are updated below.

Note
When recording the Graphic Viewer, the Movie Recorder only records data
when an operation is running. This enables you to initiate Movie Recorder
recording and then begin running your operation.

Graphic Records the active Graphic Viewer at a specified custom resolution. Selecting
Viewer custom this option enables you to set width and height pixel quantities to exact values
resolution (that do not necessarily correspond to any standard video resolutions). The
width range is 100 - 3840 pixels and the height range is 100 - 2160 pixels
(all values are rounded to the nearest 4 pixels). In this case, you can also set
Maintain aspect ratio - after setting the width or height pixel value, its paired
value is updated automatically in such a way as not to skew the resulting video
image.
Screen capture Records one of the following:
• Application frame - The system records the Tecnomatix application.
• Monitor - The system records all the applications displayed in the selected
monitor. The system automatically detects all the monitors connected to
your computer and enables you to select one monitor.
• Full screen (all monitors) - The system records all the applications displayed
in all the monitors connected to your computer.
Timing

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To run the movie recorder:

Parameter Description
Frame rate Enables you to set the number of frames to be generated for every second
of the movie. Higher frame rates produce higher quality movies but result in
larger movie files. The range of valid values is 10 - 60 frames and the default
value is 20 frames.
Movie time Valid values are:Real time and Simulation time.
based on
If you select Real time, the length of your movie will be exactly as long as the
time you spent recording it. However, if you select Simulation time, and set
the simulation to play at double speed (refer to Sequence Editor), your movie
will still last as long as the simulation. For example, if the simulation lasts 10
seconds and you play it at double-speed, the movie will last 10 seconds.

Note
If you set Capture area to Screen capture, only Real Time is available.

Run simulation This function modifies the simulation Time interval (in the Simulation
according to Settings dialog box) to match the selected Frame Rate. When recording ends,
frame rate the previous Time interval is restored.

Note
This option is only available if Movie time based on is set to Simulation
Time.

Compression

Drag the slider to select a compression level for your movie. Higher
compressions levels produce higher quality movies but result in larger movie
files.
Overlay parameters

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 To run the movie recorder:

Parameter Description

If you wish to add an overlay to your movie, click and select a

graphic file.

Resize Enables you to control the size of the overlay image.

Transparency Enables you to control the level of transparency of the overlay image.
<Text box> Enables you to add text to your overlay image or use text only (instead of an
image).
Typing % opens a list of useful built-in text strings, for example, the name of
the study you are recording.

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To run the movie recorder:

Parameter Description

Options enable you to set the size, color and shadow color of fonts.
Position Enables you to set the position of the overlay.

Graphic Viewer options (available only when Screen capture option is selected)

Navigation cube Enables you to display or hide the navigation cube in your movie.
Graphic viewer Enables you to display of the Graphic Viewer Toolbar in your movie.
toolbar
Working frame Enables you to display or hide the working frame in your movie.
Path/locations Enables you to display or hide the operation path and its locations in your
movie.

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 To view a movie:

Parameter Description
2D objects (line, Enables you to display or hide2D objects in your movie.
curves, frames)
Cull parts Enables you to activate the Cull parts with less than option in Performance
tab for the duration of your Movie Recorder session. Enabling this option
improves system performance.

Note
If the Cull parts with less than option is active, it remains active even if you
clear the Movie Recorder Cull parts option.

Note
Creating a movie with high-end parameters (for example, resolution greater than Full HD, frame
rate greater than 50 fps, and compression level over 7) requires very significant system resources.

4. Click OK to save your settings and exit the Movie Recorder Settings dialog box.

To view a movie:

• Access the Destination folder you configured and click a movie file.

To delete a movie:

• Access the Destination folder you configured and delete the movie file you wish to remove.

Markup Editor
The Markup Editor enables you to take a snapshot of the currently displayed image in the Graphic Viewer.
You can send the snapshot by email to other engineers in your organization for example for consultation.

Choose Operation tab → Documentation group → Markup Editor .

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Markup Editor

You can also use the Markup Editor and take snapshots from the New Section Viewer or Vision Window.

The following buttons are available in the toolbar of the Markup Editor:

Button Name Description

Save Saves the image as a .bmp or .jpg
file in a specified location.
Send Mail Message Enables you to send the image by
email as an attached file.
Print Enables you to print the image.

Cut Cuts a selected object (callout,

text box or line) to the clipboard.
Copy Copies a selected object (callout,
text box or line) to the clipboard.
Paste Pastes the contents of the
clipboard to the Markup Editor.

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 Markup Editor

Button Name Description

Delete Deletes a selected object (callout,
text box or line) from the Markup
Editor.
Bring to Front Places selected objects (callout,
text box or line) in front of
other unselected and overlapping
objects.
Send to Back Places selected objects (callout,
text box or line) behind other
unselected and overlapping
objects.
Select Objects Activates Select mode, enabling
you to select objects (callout, text
box or line) in the Markup Editor.
New Line Enables you to draw a line.

New Arrow Enables you to draw a line with

an arrowhead.
New Rectangle Enables you to draw a rectangle.

New Ellipse Enables you to draw an ellipse.

New Scribble Polygon Enables you to draw a freeform

shape.
Add Note Enables you to add notes to
objects in the snapshot.
New Text Enables you to add text to the
snapshot.
New Text Box Enables you to draw a text box in
the snapshot.
Fill Color Enables you to modify the color
of a selected object (callout, text
box or line).
Set Font Enables you to change the font of
text.

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Markup Editor

Button Name Description

Line Style Enables you to modify the width,
color and style of lines and
arrows.
Arrow Style Enables you to modify the
arrowhead style.

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11. Process

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Mfg Search

Mfg Search
Refer to Mfg Search.

Multiple Part Appearance

To help with static feasibility verification during the early stages of planning, it is possible to display
multiple appearances of a single part at different locations. For example:

• A product can be shown both in its container, and at one or more subsequent locations, simultaneously,
for static feasibility verification, or for evaluating the impact of changes in part size on various locations.
• Multiple copies of a single part can be placed in a container when planning container dimensions.

You can create multiple appearances of parts, compound parts, occurrence groups, or in-process
assemblies.

All appearances of a part are linked to the part instance from which they are created (source part). The
original part is listed under Parts in the Object Viewer and the appearances under Appearances. The
appearances are also displayed in the Graphic Viewer and Relations Viewer. In the viewers, appearances
can be located at the same or a different station to the source part, and each appearance can be given a
unique name. When changes are applied to the properties of the primary part instance (except for name),
they affect all appearances of the part the next time the scene is loaded/reloaded.

Each appearance is assigned by the user to a Scope operation and appears under that operation in the
Relations Viewer. The scope operation does not have to be one of the operations assigned to the source
part instance.

Multiple appearances enable you to simulate operations at different stations while the products remain
in their original positions. In complex simulations, implementing part movement/relocation, this feature
enables you to omit the operations required to bring the part to the desired work station. Setting a part
appearance as the primary appearance causes this appearance to replace the original part for purposes of
simulation, collision, clearance, reachability analysis, etc.

Note
If you are creating new events (refer to Adding Events) or OLP commands (refer to To Define Robotic
Location Attributes) and assigning parts with static appearances to the new parts, always select the
primary appearance. If you select any other appearance, Process Simulate automatically exchanges the
selected appearance for the primary appearance (or the original part if no appearance is set as primary).

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 To configure Multiple Part Appearances:

By default, weld points and PLPs appear on the source part and are absent from its appearances. However,
if one appearance is set as the primary appearance, all the weld points, weld locations, and PLPs assigned
to its scope operation are translated to this appearance. For each operation, you can define only one
primary appearance. The remaining appearances do not have weld points, and do not support weld point
functionality such as Weld Distribution Center or Smart Place. If the primary appearance is the child of a
compound part instance, weld points that apply to the scope operation of the appearance, appear on the
primary appearance, and the remaining weld points appear on the source part.

Static verifications such as collisions and dimensioning can be applied to appearances as if they were
independent of each other.

The use of multiple appearances can be very useful in the following scenarios:

• Distributing product appearances to multiple station fixtures or other strategic locations at the same
time.
• Working on specific robotic operations using an appearance without affecting the original placement of
the product.
• Simulating specific robotic operations using appearances in order to avoid simulating a complex
sequence of operations required for the placement of the original product.

To configure Multiple Part Appearances:

Procedure

1. Choose Process tab → Planning group → Multiple Part Appearance .

The Multiple Part Appearance dialog box is displayed with the name of the selected object in the
Labeled Object field.
• If you have picked parts in the Graphic Viewer or Object Viewer, these are populated in the
Multiple Part Appearance dialog box as new appearances when the dialog box opens.
• If you have picked operations in the Object Viewer, all the parts related to the selected operations
are populated in the Multiple Part Appearance dialog box as new appearances when the dialog
box opens.
• If you have picked appearances in the Object Viewer, these are listed for editing in the Multiple
Part Appearance dialog box when it opens.

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To configure Multiple Part Appearances:

By default, the new appearance is named after the source part with the _ap_1 suffix. You can
double-click the appearance name and edit it.
2. You can pick more parts in the Object Viewer, or appearances in the Object Viewer or Multiple Part

Appearance dialog box, and click Create Appearance From Selection to add their appearances
to the dialog box.
3. You can also click the arrow next to the Create Appearance From Selection icon to access the
following options:

• - Creates appearances from the selected parts.

• - Creates appearances from the selected appearances.

• - Creates appearances from the parts currently assigned to the selected operations.
These options can be useful if you have selected many objects but wish to add appearances only from
parts, appearances, or operations.
If you have added many items to the Multiple Part Appearance window, you can sort the display
alphabetically by clicking column headings.

4. If necessary, click to remove selected appearances from the Multiple Part Appearance dialog
box.

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 To configure Multiple Part Appearances:

5. Pick a Location for the new appearance. For example, you can pick a fixture to hold the appearance.
If you do not define a location, the new appearance is placed by default at the position of the part.
6. Pick a Relative To object. This is a resource or frame, relative to which the appearance moves.
7. To assign an operation to a selected appearance in the Multiple Part Appearance dialog box, do one
of the following:

• Select appearance(s) in the Multiple Part Appearance dialog box and click Assign Operation
to Selected Appearances.
The Select Operation dialog box appears.

Pick the desired operation in the Graphic Viewer or Object Viewer and click . Repeat this
if you wish to add multiple operations to the selected appearance. This is useful if you wish to
simulate more than one operation using the selected appearance.
• Click the Operation cell for the desired appearance and type the name of the desired operation or
pick it in the Object Viewer.
• If you are not satisfied with your choice of operation, you can double-click the Operation field and
type the name of another operation, or pick one from the Object Viewer.

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To configure Multiple Part Appearances:

8. Set the Primary parameter for the appearance. If set, the scope operation is simulated using this
appearance. Additionally, all the operation’s weld points and weld locations are transferred to this
appearance. If cleared, all the operation’s weld points and weld locations remain on the source part.
At any given time, only one appearance may be set as the primary appearance.
9. You can copy data from a cell in the Location, Relative to, and Operation columns, select target
appearances, and paste the data into the target appearances. This can save much routine work.
10. If necessary, you can select any cell (other than those in the Part column) and press the <Delete> key
to delete the selected piece of data.
11. Click Apply.
The appearance is created; to indicate this, the font of the assigned operation changes from bold
italics to regular text.

The new appearance is displayed under Appearances in the Object Viewer.

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 To configure Multiple Part Appearances:

Additionally, appearances are displayed in the Graphic Viewer.

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To configure Multiple Part Appearances:

Note
In the Graphic Viewer, it is not possible to differentiate between the source and its appearances.
However, appearances may have a different color, rendering, etc. according to the user’s
preferences, without affecting the source products.

12. Clicking Edit Appearance From Selection displays a list of relevant appearances according to
the current selection: If appearances are selected, they are listed directly. If parts are selected, all of
their existing appearances are listed. If operations are selected, all the appearances nested under the
operations’ scope are listed.

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 To configure Multiple Part Appearances:

Note
The current selection includes all items selected in the Create Multiple Appearance dialog box,
Object Viewer or Graphic Viewer.

Similarly, you can click the arrow next to the Edit Appearance From Selection icon to access the
following options:

• - Edits appearances created from the selected parts.

• - Edits appearances created from the selected appearances.

• - Edits appearances created from the parts currently assigned to the selected operations.

• - Edits all the appearances in the scene.

13. If you are not satisfied with the result, you can click to unassign the operation from the selected
appearance. If a single operation is assigned to the appearance, the operation will be unassigned
and the appearance will also be deleted. Alternatively, you can delete the appearance in the Object
Viewer or Graphic Viewer (after closing the Multiple Part Appearance dialog box).

You can also click to remove the selected appearances from the Multiple Part Appearance
window and delete them from the scene.

Note
Removing an operation from an appearance or deleting an appearance is performed immediately
upon confirmation (there is no need to click Apply in the Multiple Part Appearance dialog box).

Note
If you created data using the new Multiple Part Appearance command, it is not possible to display
or manipulate this data using the following old commands:

Symbol Name
Create Appearances Under Scope

Create Appearance

Edit Appearance

Part Instance Appearances

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Geometric Gun Search

In order to use the new Multiple Part Appearance command, you should remove the old
commands and add the new command as follows:
Copy the contents of the eMPower\MPA folder to the eMPower folder.

Geometric Gun Search

The Gun Search wizard enables you to search for the most suitable gun to perform a selected weld
operation, by performing a collision check on selected guns and automatically displaying the results. You
can select guns for testing either from the library or from the current scene.

Procedure

1. Choose Process tab → Planning group → Geometric Gun Search .

The Gun Search wizard is displayed.

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 2. Click Next.
The Targets page is displayed, listing the weld points in the selected operation.

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 3. Select the weld points to be welded by the gun, and then click Next.
The Select Guns dialog box is displayed.

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 4. From the Select guns from dropdown list, select one of the following sources from which to select
and test a gun:
• Scene - To select and test one or more guns from the current study.

• Click to load a preconfigured gun list.

5. Optionally, if you created (in step 4) a gun set (list of guns) that you may wish to use again in the
future:

a. Click .
The Store Gun Set dialog box appears.

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 b. From Sets Level, select one of the following locations to store the new gun set:
• Scene - In the currently open scene
• User - Under your user profile
• Public - Available for all users

Note
• If you save the new gun set in the currently open scene, you must perform Teamcenter
Update (see Server section in the Process Simulate on Teamcenter documentation) to store
it for future sessions.
• Select a gun set and press <Del> or right-click the selected gun set and select Delete to
delete it.
• Select a gun set and press <F2> or right-click the selected gun set and select Rename to
rename it.

6. From the left-hand text box, select the gun(s) you want to test, and click to move them to the
Check the following guns list.

Note

• If necessary, select guns in the Check the following guns list and click to remove them.
• To view a gun, select it from the list of guns to be tested.

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 The system displays a picture of the gun in the Gun Preview box.
• If you select a gun root (a parent container with nested guns) in the left-hand text box, no
preview is available. If you select a gun module in the left-hand text box, a comment is displayed
(instead of a preview).

7. Click Next.
The Collision Check page is displayed.

8. Specify the objects with which the system will perform a collision check, by selecting one of the
following options:
• To test whether the selected gun(s) collides with all objects in the cell, select All objects in Study.
• To test whether the selected gun(s) collides only with selected objects, select Selected objects,
and then select the required objects either in the Graphic Viewer or Object Viewer.
The selected objects are listed in the Objects text box.

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 Note
The Selected objects option reduces calculation time.

9. To have the system classify near misses as collisions, select the Use Near-miss value checkbox, and in
the adjacent field, enter the maximum distance (in millimeters) by which a gun can miss an object in
order for the near-miss to be classified as a collision.
10. Click Next.
The Options page is displayed.

11. In the Gun States area, specify the state of the selected gun(s) when the collision check is
performed, by selecting one or more of the following options:
• Closed: Simulates the gun(s) in the closed pose throughout the entire weld operation, and checks
collision at each weld point. This is the fastest option.
• Semi Open: Simulates the gun(s) moving from the Closed pose to the Semi-open pose at each
weld point, and checks for collisions at each weld point.
• Open: Simulates the gun(s) moving from the Closed pose to the Open pose at each weld point,
and checks for collisions at each weld point.
• Home: Default start pose for the device.

Note
• Calculation time can be reduced by selecting fewer options in the Gun States area.

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 • Not all guns have Closed, Semi open, and Open states defined.

12. In the event that a collision is detected when the gun(s) is in its regular, non-rotated TCP frame
location, you can specify parameters in the Gun Rotation area for testing the gun(s) in a rotated
state, as follows:
• Select Check gun flipped around approach axis to test the gun(s) by rotating it 180° around its
approach axis.
• Select Rotate gun around perpendicular axis to test the gun(s) by rotating it according to the
following fields:
In the Maximum Rotation field, enter the maximum number of degrees (from 0 to 180) to use for
gun rotation. The system tests for collisions in intermediate steps, both in the positive and in the
negative rotation directions (plus and minus the value you enter for the angle of rotation).
In the Number of Steps field, enter the number of steps the gun(s) should be rotated in an effort
to find an angle that does not cause a collision. The rotation value for each step is the Angle of
Rotation divided by the Number of Steps.

Note
Rotation tests stop as soon as the first successful position is found.

13. If the gun is drilling or riveting at a specified location, typically it approaches the target location via
the face of the host part opposite to that on which the location is found. In this case, the gun is
necessarily in collision with the part.

To avoid this collision, you can set one or both of the following parameters:

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 • Offset gun with stack thickness - The system offsets the gun by exactly the thickness of the stack
of parts. This varies according to the stack thickness at each of the selected locations.

• Offset gun with - This parameter enables you to set a gun offset distance for all the selected
locations.

• When both parameters are set:

14. To continue testing a gun at remaining weld points even after a collision is detected at one weld
point, select Continue checking after collision detected in the General area. If this checkbox is not
selected, the test of a gun that collides at one point will be aborted and the Gun Search wizard will
move on to the next gun in the list.
15. To view the simulation of each gun's evaluation process in the Graphic Viewer, select the Update
display during search checkbox. This option increases calculation time.
16. Click Next.
The Search page is displayed.

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 The following table describes the Search page toolbar:

Button Name Description

Save to File Saves the currently displayed
results of the Search page to a
CSV file.
Insert Guns Inserts the selected guns into
the study. If the selected guns
are already present in the study,
this option is disabled.
Store All Guns Opens the Store Gun Set dialog
box and enables you to store all
the guns.
Store Non-colliding Guns Opens the Store Gun Set dialog
box and enables you to store
all the guns that do not collide
with any objects.
Store Selected Guns Opens the Store Gun Set dialog
box and enables you to store
only the selected guns.

17. Click Search.

The system runs the search query and populates the Search page with the results, as follows:
For each gun tested, the Gun page contains:

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 The All column displays the result of the entire weld operation, in which:
• indicates that the gun was successful at all weld points, and is therefore a suitable gun for
performing the selected weld operation.
• indicates that the gun collided with its surroundings at one or more weld points, and is therefore
not suitable for performing the selected weld operation.
A wp# column for the result of each weld point in the operation, in which:
• indicates that the gun was successful at that weld point only.
• indicates that a collision was detected at that weld point only.

Note
The results table is updated dynamically each time a test finishes. If you do not require any further
results to be displayed, click Pause.

Note
If you return to a previous page and change any of the options, the current results are discarded.
Click Search to restart the search.

18. Optionally, you can click to access the Customize Columns dialog box and configure the
Geometric Gun Search results display:

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 • In the Result Columns area, set any of following:
◦ Show "All" - Enables you to display or hide the All column.
◦ Show "Success (%)" - Enables you to display or hide the Success (%) column. This parameter
notes the percentage of collision-free weld points out of all those tested.
• In the Locations Columns area, set one of the following:
◦ Show success indication - Displays for each collision-free weld point or if there is a
collision.

◦ Show rotation angle - Displays the rotation angle required to avoid collision for the weld point.
If it is not possible to avoid collision, displays .

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Assign Weld Points

19. Click Close to close the Gun Search wizard.

Assign Weld Points

The Assign Weld Points option enables you to simultaneously assign multiple weld points to multiple
parts. You can then select the single part to which the weld points are attached. Once the weld points are
attached to a specific part, they move relative to that part if the part is moved to a different location in the
cell.

Procedure

1. Choose Process tab → Planning group → Assign Weld Points .

The Assign Weld Points dialog box is displayed.

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 2. Select one or more weld points, either in the Graphic Viewer or the Object Viewer.

The cursor changes to a crosshair when selecting objects in the Graphic Viewer. Selected weld
points are displayed in the Mfg Features list.

Note
Alternatively, you can select weld points in the Graphic Viewer or the Object Viewer and then select
Assign Weld Points to display the Assign Weld Points dialog box. Names of the selected weld
points are displayed in the Mfg Features list.

3. Click in the Parts list and then select the parts, either in the Graphic Viewer or Object Viewer, to
which you want to assign the weld points.

The cursor changes to a crosshair when selecting objects in the Graphic Viewer. The name of the
selected parts are displayed in the Part field. You can also add parts to the parts list by clicking Obtain
Parts. Process Simulate associates each weld point with its appropriate part and displays the names of
the parts to which the weld points are assigned in the Parts list.

Note
Click Clear to clear the Parts list.

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 4. Select the part to which you want to attach the weld points from the Attach to dropdown list.By
default, the weld points are attached to the first part displayed in the Parts list. If the selected part is
moved to a different location in the cell, the weld points are moved with it.
5. Click OK.
The selected weld points are assigned to the selected parts.

Note
To view the assignments that have been made, select the weld point and open the Assign Parts
dialog box.
It is not possible to change the assignment for exposed MFGs.

Automatic Part Assignment

The Automatic Parts Assignment command enables you to assign large quantities of weld points to
parts automatically, eliminating the need to assign each weld point manually. This option streamlines the
process by searching for and displaying all parts within a configurable distance of the weld points. You can
then confirm or reject the assignments as required.

To assign weld parts automatically:

Procedure

1. Select weld points from the Graphic Viewer or Mfg Viewer or Object Viewer.

2. Choose Process tab → Planning group→Automatic Parts Assignment .

The Automatic Part Assignment dialog box is displayed, containing a list of all parts that have
already been assigned to the selected weld points, if any.

The following buttons are available in the toolbar of the Automatic Part Assignment dialog box:

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 Button Name Description
Search Finds all the parts located
within range (as defined in
the Settings dialog box) of
the selected weld points and
displays them in the table. The
parts that have not yet been
assigned are displayed in gray
italics.
Shift Part to Start Shifts a part in the list to the
first position.
Shift Part Left Shifts a part in the list to the
left.
Shift Part Right Shifts a part in the list to the
right.
Shift Part to End Shifts a parts in the list to the
end position.
Sort Sorts the parts in the table in
ascending alphabetical order.
Remove Part Removes a part from the list,
even if it has already been
assigned.
Settings Opens the Settings dialog box,
shown below, which contains
the following settings:
• Distance: Defines the radius
length of the search range
for parts (based on the active
unit, as defined in the Units
tab tab). Any parts located
less than this distance from a
weld point are automatically
assigned to that weld point.
• Visible Columns: Defines the
number of visible columns
in the table. a maximum of
8 columns can be displayed.
The first four columns
displayed are the columns of
parts to actually be assigned.
The additional columns,
are displayed in yellow,
and are only candidates

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 for assignment. In order
to assign these parts, the
columns must be moved to a
position within the first four
columns in the table.
• Automatically check-in
after accepting changes:
Check this checkbox to
automatically perform a
check-in operation after the
changes have been accepted.

Assign Assigns parts to the weld points

selected in the table.
Export to Excel Exports the list to a CSV
file, which can be viewed by
Microsoft Excel.
Filter Out Assigned When selected, filters out weld
points with assigned parts from
the list.

3. Select to have the system find all the parts that are within range of the selected weld points and
display them in the table.
4. Review the list of parts, and either select to assign the part, or click to remove the part from the
list. To select a number of parts at once, click and press Shift or Ctrl from the keyboard. When a weld
point in the list is selected, each part within range is displayed in the list and in the Graphics Viewer in
a different color.

Tip
Click to filter out weld points that already have assigned parts from the list.

5. If required, select or to modify the order of the parts assigned to the weld points. By
default, the part listed in the Part 1 column is defined as the attached part (also known as the leading
part). This is the part to which the weld point is actually attached. If this part is moved in the Graphics
Viewer, the weld point moves relative to it.

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 Project Weld Points

6. If you close the Automatic Part Assignment function without saving the following dialog is
displayed:

Tip
To select a different part as the attached part, click in the Attach To column and select a part from
the displayed dropdown list.

Project Weld Points

The Project Weld Points option enables you to project groups of weld points on the surfaces of
multiple parts. The system assigns the projected weld points and attaches them to the selected part.
Projecting a weld point adds orientation to the weld point and creates a weld location, which specifies the
perpendicular and approach axes to the location. The system can project multiple weld locations from the
same weld point. This is useful when the weld point is included in more than one operation, for example,
operations performed on a car assembly that has multiple variants.

Before projection, the system indicates weld points in the Graphic Viewer by a small cross. After
projection, weld points (or weld locations, as they have now become) have a frame representation. In
addition, the icon representing the weld point in the Object Viewer also changes from (unprojected)
to (projected).

If the part exact geometry is not available in the JT file (i.e., it is a location that did not retrieve the exact
geometry), users are asked whether to project based on an approximation or skip the projection for the
weld points which failed for exact projection.

Note
Only JTs in the XTBRep format support projecting weld points on exact geometry. See Set Modeling
Scope.

The system can re-project weld points later, if required.

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 Note
After projecting weld points, running Teamcenter Update uploads and saves the corresponding weld
location vector parameters (the new position and orientation) to the Teamcenter database. This
ensures the information is available to other applications. The projected location is saved as a form
of type ProjectInfo attached to the Project Information Relation relation. The form is added to the
assignment/consumption occurrence in the context of the assigning Teamcenter operation. As a result,
the form is only available in the Process Structure.

You can configure the storage method by editing the <Misc> section of
the TcPSMappingConfiguration.xml file, located in the Tecnomatix/eMPower/Teamcenter
Integration/dat directory. There is a single setting for all new weld points and continuous MFGs.

You can control the mode by adding the ExposeProjectionInformation entry to enhance the <Misc>
section of the PS-TC-Mapping-File. ExposeProjectionInformation is a boolean parameter, where:

• True — Process Simulate on Teamcenter exposes MFGs projected locations

• False — Process Simulate on Teamcenter does not expose MFGs projected locations

The default behavior is False, i.e. Process Simulate on Teamcenter does not expose the values.

Example:

<Misc>

...

<ExposeProjectionInformation>true</ExposeProjectionInformation>

</Misc>

In the following example, Form is attached to the assigned WeldPoint, in the context of the Discrete
operation:

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 Procedure

1. Choose Process tab → Discrete MFG group → Project Weld Points .

The system displays the Project Weld Points dialog box.

The Project Weld Points dialog box includes the following fields:

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 Name Description
Weld Points Displays the weld points included in the selected
robotic operation.
F Displays the number of faces selected. The
system performs the projection on the closest
face out of those selected.
After performing a successful projection, the
number of faces is reset to 1. In this case, if you

select the weld point and click , the system

highlights the face on which the projection was
performed.
R For each weld point, this column indicates the
projection status of the weld point, as follows:
[Blank] — Not projected.

— Projected on exact geometry.

— Projected on approximate geometry.

— Projected on approximate geometry, as

result of failure to project on exact geometry as
user indicated.

— When re-projecting the operation, the

locations were not deleted, but a new projection
status was assigned. The dialog box indicates
this operation with "?" the next time it opens.
— Projection failed.
Update projected weld points When set, the system also projects weld points
that were already projected. When cleared, the
system omits them.
Opens the Face Selection dialog box.

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 As you pick faces, the Number of current faces
counter is incremented. Click OK to save the
change and close the dialog box.
Project each weld point on parts assigned to it Projects weld points on to the parts to which
they were assigned during creation. This is
selected by default.
Project weld points on a customized list of Projects weld points on to the parts in the Parts
parts list. Each weld point is projected on to its leading
part if the part appears in the list, otherwise, the
weld point is projected on to the assigned part in
closest proximity to the leading part.
Parts Displays the parts assigned to all the weld points
listed in Weld Points.
Obtain leading part only Populates the Parts list with the leading part of
each weld point in Weld Points.
Obtain leading and assigned parts Populates the Parts list with both the leading
and all other assigned parts of the weld points in
Weld Points.
Align projection with outer surface Aligns the weld point on to the surface of the
farthest permitted part. You can modify the
group of permitted parts in the Weld tab in
the Permitted gap between parts field. This is
selected by default.
Project on approximation only Projects weld points on approximated versions
of the part. Use this option to save computing
resources and achieve quick results.
Force project over holes When this option is set, the system ignores the
faces’ borders and relates to them as untrimmed
surfaces.
When projecting on an approximate surface, this
option is only supported on planar surfaces. It
is recommended to select faces using the Face
Selection dialog box to better control projection
over holes.

Note
If faces are selected, the faces are also slightly
extended in order to allow projection close to
the face edge.

2. Select weld points in one of the following ways:

• Select one or more weld points in the Graphic Viewer or the Object Viewer.

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 The cursor changes to a crosshair when selecting objects in the Graphic Viewer. Selected weld
points are displayed in the Weld Points list.
• Apply the Selection Weld Points filter, as described in Selection.
This enables you to select all the weld points in the currently displayed cell. The selected weld
points are displayed in the Weld Points list.
• Select a weld operation to select all of its weld points.

Note
Alternatively, you can select weld points in the Graphic Viewer or the Operations tab and then
select Project Weld Points to display the Project Weld Locations dialog box.
Names of the selected weld points are displayed in the Weld Points list.

Weld points on parts that are blanked in the cell cannot be projected.
3. Select parts in one of the following ways:
• Select Project each weld point on parts assigned to it to use parts that are assigned to the weld
points.
• Select Project weld points on a customized list of parts to obtain a new list of parts.
a. Select Obtain leading part only or Obtain leading and assigned parts to populate the Parts
list with the leading part or both the leading and assigned parts.
b. Click Obtain Parts to display the list of parts.
Process Simulate associates each weld point with its appropriate part and displays the name of
the leading part or the names of all the parts to which the weld points are assigned in the Parts
list.

Note
Alternatively, you can add parts to the Parts list by selecting them, either in the Graphic
Viewer or Object Viewer.
You can resize the Project Weld Locations dialog box to view the full names of the parts in
the Parts list by dragging a corner of the dialog box.

c. Click Clear to clear the Parts list of all parts displayed in the list.
4. Check Align projection with outer surface to align the weld location with a more accessible surface.
5. Click Project.
The system projects weld points in the Weld Points list on the closest part in the list. The system
creates weld locations with the orientation standards defined in the Weld tab. Click to display the
Options dialog box and edit these settings.

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 Note
• In the Graphic Viewer, the weld points become frames. The system assigns the projected weld
points and attaches them to the selected part.
• If the part geometry is not available, the system can perform an approximated projection. Click
Yes in the message box that appears asking whether you wish to project a weld point based on
an approximation.
• Deleting a weld point in the Mfg Viewer also removes all its associated weld locations.
• For a weld point with multiple weld locations, you can delete any of the weld locations except for
the last remaining one. If the last remaining weld location has been projected, trying to delete it
causes it to return to its unprojected state (similar to resetting it).
• By default, deleting an entire scope, for example an operation, causes all the nested weld
locations to return to their unprojected state. The unprojected weld locations are moved
and nested under another scope in the Object Viewer according to the Weld Location
Unassignment parameter in the Weld tab.
However, setting Delete weld points which are no longer in use in the Weld Operation
Deletion area of the Weld tab causes the opposite to happen. In this case, deleting an operation
causes all the weld points that have only a single remaining weld location to also be deleted.

Create Weld Point by Coordinates

The Create Weld Point by Coordinates command enables you to create a weld point at a location selected
by one of the standard frame specification methods.

Procedure

1. Choose Process tab → Discrete group → Create Weld Points by Coordinates .

The Create Weld Point by Coordinates dialog box is displayed.

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 The Name field displays the default name: wp

Note
The system ensures that the name is unique by appending a number to the default name if
necessary.

The default name may include enumeration appended to the end of the name to ensure a unique
name.
2. Enter a name in the Name field, if required.
3. Select a Teamcenter Weld container in which to store the weld points.
4. Select a Weld operation to which to assign the new weld points.
5. Specify the coordinates for the new weld point, as follows:

a. Click and select a frame specification method from the dropdown list.
b. Select the coordinates for the new weld point using the selected frame specification method.
(Refer to Create Frame.)
6. Select a part on which to create the new weld point, as follows:
a. Click the Part field to activate it.

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 Create Weld Point By Pick

b. Select a part in any viewer.

The name of the part appears in the Part field.
7. Click OK. The Create Weld Point by Coordinates dialog box closes and the new weld point appears
in the Mfg Viewer.

Create Weld Point By Pick

The Create Weld Point By Pick option enables you to create weld points. You can add weld points directly
in Process Simulate, if required. They are displayed both in the Graphic Viewer and in the Object Viewer.
Weld points are attached and assigned to parts.

Note
If the created weld point was created on a part, that part is assigned to the weld point.

Procedure

1. Choose Process tab → Discrete group → Create Weld Point By Pick .

The Create Weld Points dialog box appears.

Note
If you have configured Teamcenter to store new weld points in a private configuration, the Create
Weld Points dialog box appears without the Weld container field.

2. Select a Teamcenter Weld container in which to store the weld points.

3. Select a Weld operation to which to assign the new weld points.

4. Click Start. In the Graphic Viewer, the cursor changes to a crosshair .

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 5. Click in the Graphics Viewer where you wish to create a weld point. It is added to the Mfg Viewer and
its paired Weld Location is indicated by a symbol in the Graphics Viewer.
6. Create further weld points as required.

7. Select Create Weld Point By Pick again to return the cursor to normal.

Weld points are created with the default name WP#. You can change the name of a weld point by clicking
it in the Object Viewer and modifying the name as required. Additionally, you can modify weld points as
follows:

• Change the color of the weld location indication in the Graphic Viewer using the Modify Color
command.
• Delete the weld point by selecting it in the Mfg Viewer and clicking Delete.
• Move the position of the weld point using the Placement Manipulator tools.

Note

Mfgs with local changes are marked with the following overlay:

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 Create Weld Point on TCPF

Create Weld Point on TCPF

The Create Weld Point on TCPF option enables you to create a weld point at the current TCPF position
of the selected robot, or TCP of the selected gun, servo gun, or pneumatic servo gun. The command is
enabled when any of these is selected.

Weld points are displayed in the Graphic Viewer, the Mfg Viewer, and the Object Viewer. Weld points
are attached and assigned to parts.

Note
If Consider weld point orientation is set in Weld tab, Create Weld Point on TCPF applies gun
orientation to the new weld point projection, including translation and rotation. In this case, the
command projects each weld location about its perpendicular so that the location approach vector is
as close as possible to the approach vector of source weld point. The orientation of the gun or robot is
retained. This ensures consistency of approach to the new weld point.

However, the final position of the weld location may differ slightly from that of the robot TCPF or gun
TCP, as the translation and perpendicular result from the projection.

Procedure

1. Choose Process tab → Discrete group → Create Weld Point on TCPF .

The Create Weld Point on TCPF dialog box appears.

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Duplicate Weld Operation

Note
If you have configured Teamcenter to store new weld points in a private configuration, the Create
Weld Point on TCPF dialog box appears without the Weld container field. For information on
selecting weld containers, refer to Create Weld Point by Coordinates.

2. Select a Robot or type a Name for the new weld point.

3. Select a Teamcenter Weld container in which to store the weld point.
4. Select a Weld operation to which to assign the new weld point.
5. Click OK. A new weld point is created at the TCPF of the selected robot.

Duplicate Weld Operation

The Duplicate Weld Operation command enables you to create a new weld operation by applying
an existing weld operation definition to new weld points. This command is useful for creating a new
operation that is similar to a previously-defined operation. The positions of the new weld points must
correspond to the weld points defined in the existing weld operation.

This video demonstrates duplicating weld operations.

Note
Videos are not included in PDF. To access videos, use HTML.

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 For example, if you have defined an operation for welding a car door, you can use this command to create
a new operation for welding a different type of car door.

Procedure

1. In the Object Viewer, you can select loaded weld operations.

2. Choose Process tab → Discrete group → Duplicate Weld Operation .

The Duplicate Weld Operation dialog box opens. The Source column displays all of the weld points
defined in the selected weld operations.

The Duplicate Weld Operation dialog box contains several buttons, described in the following table:

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 Button Name Description
Define Search Defines the scope of the search for the weld points with which to
Scope define the new weld operation. The results of the search appear in
the New column of the Duplicate Weld Operation dialog box.
Match and Analyzes the positions of the new weld points in order to pair each
Replace new weld point with a corresponding weld point from the selected
weld operation.
Emphasize Pair Emphasizes the weld points selected in the Duplicate Weld Operation
dialog box. The emphasis appears in the Graphic Viewer.
Select only a single line in the Duplicate Weld Operation dialog box
to enable this button. The Graphic Viewer emphasizes the pair by
displaying the weld points in blue and yellow. Clicking the button
again removes the emphasis. Clicking a different line in the Duplicate
Weld Operation dialog box removes emphasis from the previous pair
and emphasizes the new pair of weld points.
Application Enables you to configure the criteria for matching the weld points of
Settings the selected weld operation to the new weld points selected through
Define Search Scope.

3. Click to select weld points.

4. Select weld points.

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 The new weld points appear in the Duplicate Weld Operation dialog box in the New column. Click
Apply.

5. Click Application Settings .

The Settings dialog box appears.

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 6. Select one of the following criteria for matching the new weld points to weld points in the existing
operation:
• Distance — Matches each weld point in the existing operation to the closest new weld point.
Configure the tolerance for the match process in the Maximum Match Distance field.
• Perpendicular Direction — This criterion is only enabled if Distance is checked. Configure the
tolerance for the match process in the Maximum Deviation Angle field. When selecting the best
fitting weld point, the system only considers the Perpendicular Direction of those weld points that
match the Distance criterion.
The Perpendicular Deviation Angle is the angle between the normal vectors of the projections of
the original weld point and the proposed new weld points. The system selects the weld point with
the smallest Perpendicular Deviation Angle.
• Name — Matches the new weld points to identically-named weld points in the existing operation.

Note
The system only considers weld points that contain at least one assigned part loaded in the study.

7. The Weld Location Orientation options allow you to control the perpendicular direction:
• Project on assigned parts uses the normal of the new part.
• Obtain from weld point reuses the direction from the original weld point. If the direction is
missing, uses the World Z direction.
In both cases the approach angle is aligned with the direction of the original weld point.
8. Click OK.The new match criteria configuration is applied and the Settings dialog box closes.

9. Click Match and Replace to match the new weld points to weld points in the selected
operation.
A new operation appears in the Duplicate Weld Operation dialog box in the New column. By
default, the new operation name is the same as the name of the existing operation displayed in the
Source column. The new operation name is displayed in italic type to indicate that the operation has
not been created yet.

Note
Operations, including operations displayed under the same parent, do not require unique names.

Each row in the Duplicate Weld Operation dialog box displays a pair of matching weld points. For
each pair, the Distance field indicates the distance between the two weld points of the pair.

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 10. If required, match weld points manually by the following method:
a. In the Duplicate Weld Operation dialog box, select a cell in the New column. The cell is
highlighted in green to indicate that it is in focus.
b. Click a weld point in the Graphic Viewer or Mfg Viewer.
The weld point is added to the selected cell in the Duplicate Weld Operation dialog box,
matching the new weld point to the corresponding weld point in the Source column.
11. In the Target Process Scope dropdown list, select a parent location for the operation you are
creating.
The default location is Operation Root, which is the directory of the selected weld operation.

Note
The dropdown list displays all the operations that can be a parent of the selected weld operation.

12. Click Apply in the Duplicate Weld Operation dialog box to create the new weld operation. The
following occurs:
• The new weld operation appears in the parent location selected in the Target Process Scope field.

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 • The new weld operation includes a duplicate of the process data and Via locations of the old
operation.
• The new weld operation name appears in normal type (not italic) in the Duplicate Weld Operation
dialog box to indicate that the new operation has been created.
• Only the weld points included in the new operation appear in the table in the Duplicate Weld
Operation dialog box. Any unmatched weld points are omitted from the display.
• The Reset button in the Duplicate Weld Operation dialog box is activated.

13. If necessary, click Reset in the Duplicate Weld Operation dialog box to reverse the actions of Apply,
removing the new operation.

Note
Any weld points that were loaded into the study by clicking Apply during this procedure remain
loaded in the study. Their weld location operations remain under the operation root.

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 Obtain Weld Point Orientation

14. Click Close.The Duplicate Weld Operation dialog box closes.

Obtain Weld Point Orientation

The Obtain Weld Point Orientation command enables you to save Rx, Ry, Rz values associated with
weld points imported from external CAD applications. To operate this command, the weld points must be
associated with a part.

Procedure

1. Select a weld operation or specific weld points locations associated with it.

2. Choose Process tab → Discrete group → Obtain Weld Point Orientation .

The Obtain WP Orientation dialog box opens with the selected weld points locations listed.

3. Click Apply to retain the imported rotation values for the selected weld points.

Update Weld Locations Projection

The Update Weld Locations Projection option enables you to re-project selected weld locations that were
previously projected using the Project Weld Points option. This might be required because of changes in
weld point locations, changes in the parts on which weld points were projected or a combination of both.

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 Note
This command examines all weld operations that have been defined in the scene. There is no need to
select the weld locations in a specific operation before invoking the command.

Procedure

1. Choose Process tab → Discrete group → Update Weld Locations Projection .

Weld Location displays the names of all the weld points that need re-projection and Reason informs
you of the reason for this (the possible reasons are Weld Point, Part, Weld Point & Part have
changed since the weld points were projected). The Result column indicates whether or not the
re-projection was successful.
2. Select one or more weld points in the table (standard Windows shortcuts are supported), or click
Select All to select all the weld points.

Note
To retain the original projection for a specific weld point, select it and click Disregard. A checkmark
is displayed in the Result column next to the weld point that will not be re-projected (or an X if this
action has failed).

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 To view additional information about the changes in a particular weld point that caused the need to
re-project it, select it in the table and click More Data.

3. Click Re-Project. If the re-projection is successful, a checkmark is displayed next to each relevant
weld point in the Result column. In the Graphic Viewer, the re-projected weld locations are displayed
in blue.If re-projection for a weld point fails, an X is displayed in the Results column and the weld
location is displayed in red in the Graphic Viewer. For example, re-projection can fail if the part on
which the weld point was projected has been deleted, or if the new weld point location is too far
from the part to generate a suitable projection.
4. Click Open log file to view the UpdateWeldLocationProjection log file.
This file records all the re-projection actions you performed while the Update Weld Locations
Projection dialog box is open.

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 Note
• If you wish to retain the information in this file, save the file and name it with a meaningful name
(the file is overwritten when you launch Process Simulate).
• Disregard actions are only recorded in the log file when you close the Update Weld Locations
Projection dialog box. For example, you might have disregarded a weld point and afterwards
decided to reproject it. In this case, the system records the Re-Project action and ignores the
Disregard action. However, had you not re-projected the disregarded weld point, then when the
dialog box closes, the system records the Disregard action.
• If the system fails to reproject a weld point more than once, it only records the first failure.

5. Click Close to close the Update Weld Locations Projections dialog box.

Multi Sections Viewer

Multi Sections is an advanced 3D environment that enables you to select the optimum weld gun to
perform a weld operation. You can manipulate a selected frame or location (weld, seam, continuous,
via) and make adjustments to its orientation in order to avoid a collision between the weld gun and its
surroundings (weld parts, fixtures, and so on). Using the Multi Sections Viewer, you create sections which
provide a close-up of the local environment of a location. The size of the section is determined by the size
of the cutting box, which you can define as required.

You can also save a section as a component in a component (.COJT or .JT) file and send it to colleagues
for collaboration or inquiry purposes. For example, you can save a section that shows a gun which is
unsuitable for the required task. A colleague can then open this file and work with other guns in order to
find a suitable gun for the required task.

Create a section

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 Procedure

1. Choose Process tab → Discrete group → Multi Sections .

The MultiSections Viewer is displayed.

Tip
At any time while working with the Multi Section Viewer, you can click to open the currently
displayed image in the Markup Editor and save it. This enables you to add labels and callouts as
required and send the image by email to other engineers in your organization, for example, for
consultation.

Note
If the Use location information in static applications option in the Motion tab of the Options
dialog is set, the system acquires simulation information from locations or from the parent
operation.
Therefore, the Gun field is inactive.

2. Click .
The Add Locations dialog box is displayed.

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 3. Select frames and locations (weld, seam, continuous, via) in the Graphic Viewer or the Object Viewer.
The cursor changes to a when selecting from the Graphic Viewer.
4. Click OK.
The selected frames and locations are displayed in the Locations list on the left side of the Multi
Sections Viewer and a section for each item is displayed in the display area on the right side.

Note
Alternatively, you can select frames and locations in the Graphic Viewer or the Object Viewer and
then launch Multi Sections to display the Multi Sections Viewer with the selected locations already
displayed in the Locations list.

5. Select frames and locations in the Locations list and click if you wish to remove them and their
sections from the Multi Sections Viewer.
6. From the Gun field, select the weld gun (pick it either in the Graphic Viewer or the Object Viewer)
to be used to weld the selected locations. The cursor changes to a when selecting objects in the
Graphic Viewer. The name of the selected weld gun is displayed in the Gun field and the gun is
displayed in the Multi Section Viewer.
7. In Pose, you can select a pose in which to display the gun.

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 The gun (including its cloned and ghost guns) jumps to the new pose in the Multi Sections Viewer
and in the Graphic Viewer. For information on managing poses, refer to Pose Editor.

Note
The Multi Sections Viewer is dynamically synchronized with Joint Jog. Therefore, if you change the
robot pose using Joint Jog, the Multi Sections Viewer automatically displays the new pose. If you
use Joint Jog to move the robot to an undefined pose, Pose displays Current.

Note
Alternatively, you can select the gun in the Graphic Viewer or the Objects tab and then launch
Multi Sections to display the Multi Sections Viewer with the selected gun already displayed in the
Gun field.

8. If required, click to reveal more options.

9. In the Display Options area, set any of the following options:

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 • If required, select Show Cutting Box of Selected Section to display the cutting box of the selected
section in the Graphic Viewer.
The cutting box determines the size of the section displayed in the display area. You can change
the size of the cutting box using the following tools:
◦ Click and drag the slider arrows below the display area.
◦ Click on the size hyperlinks to display the Cutting Box Dimensions dialog box.

Specify the six dimensions of the cutting box.

You can move the position of the cutting box by selecting an axis in the Section Size field and
then clicking and dragging the white box between the slider arrows.

Tip

Clicking automatically sizes the cutting box to the size of the gun.

You can now use the tools provided in the Multi Section Viewer to check for collisions of the gun.

Note
Ensure Collision Mode On/Off is activated. A collision pair is automatically created (called Multi
Section Pair) between the gun and the sections.

Tip
Deactivate all other collision pairs in the Collision Setup dialog box, including All displayed
objects, for better performance.

• If the gun is not displayed, select Show Gun.

• Select the Show Floor option if you wish to display the multi section floor.
• Select the Show all sections together option if you wish to superimpose all the locations at the
same position.

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 10. Select a location from the list of locations and click (or double-click a location) to jump the gun to
the selected location. The Tool frame of the gun is aligned to the location.
You can view and manipulate the location to check for collisions, as follows:

• Click or select Align Locations to align frames and locations in the list to a reference location.

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 ◦ Click to access Multi Section settings.
You can activate or deactivate selecting of frames. Refer to Multi Section Settings.
• Click to view the locations from their side.
• Click to set the selected location as the view-center of the display area.
• Select an axis from the Rotate Location or Rotate Frame dropdown list (depending on the current
selection) and rotate the selected frame or location around the selected axis in one of the following
ways:
◦ Drag the slider on the right of the Rotate Location dropdown list.
◦ Click in the Edit box on the right of the slider and enter the required position value.
◦ Select a position value using the up and down arrows in the Edit box.

Note
As you rotate the locations in the Multi Sections Viewer, they are simultaneously rotated in the
Graphic Viewer.

The gun moves with the location. Any collision is indicated in the display area (red for a collision,
yellow for a near miss) and by an X in the C column in the list of locations on the left side of the Multi

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 Sections Viewer. (A tick indicates that there is no collision and a question mark indicates that Process
Simulate cannot determine whether a collision has occurred.)

11. Repeat step 10 for all the locations.

12. If required, you can save sections as JT components in JT component files (.JT or .COJT).
To save sections:
a. In the Store Sections area, select one of the following (to select the file format, refer to Multi
Section Settings):
• Selected Section — Saves one section. Select the required section in the graphic display of
the Multi Sections Viewer.
• All Sections — Enables you to select a path and save all the sections, each one as a JT file.
• All Sections as One Component — Saves all the sections as a single component in the same
JT file.
b. Click Save As.
The Save Component As dialog box is displayed.

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 c. From Save as type, select the format for your JT file.
d. Browse to the location in which you want to save the section(s).
e. If you are saving one section, enter a name for the JT component file in the File name field. If
you are saving all sections, JT component file naming is automatic.
f. Click Save.
Each section is saved as a JT component file.

The Multi Sections Viewer remains open, enabling you to continue as follows:

• Click Update to recalculate sections if you have changed the orientation of the gun. Generally,
information in the Multi Sections Viewer is updated automatically.
• Click Reset to return the Multi Sections Viewer to its opening position.
• Click Close to close the Multi Sections Viewer.

Multi Section Settings

From the Multi Sections dialog, click to access the Multi Sections settings.

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 Automatic Approach Angle

You can configure the following settings for Multi Sections:

Setting Description
File Format File format for the JT file when saving sections. You can select .JT or .COJT format.
Frames When set, you can also select frames in Multi Sections. When cleared, you can only
select locations.

Automatic Approach Angle

The Automatic Approach Angle command enables you to automatically configure an approach vector
for selected locations in continuous, generic robotic, and weld operations. This feature also indicates
the robot reachability and collision status for the selected locations. The Automatic Approach Angle
command provides functionality similar to the Pie Chart, but operates on multiple locations. You can also
use Automatic Approach Angle to create a collision set.

Note
If the Use location information in static applications option in the Motion Tab is set, the system
acquires simulation information from locations or from the parent operation. Therefore, the Robot, Tool,
and TCPF fields are inactive. In this case, there is also support for external axes whose values have been
defined.

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 Procedure

1. In any viewer, you can specify the desired locations by selecting either locations or objects with
associated locations. Select any of the following:
• Locations.
• Operations - including all associated locations. You can select weld operations, continuous
operations (including seam operations), or robotic generic operations (including pick-and-place
operations).
• Seam Mfgs - Including all associated seam operations.
• Weld points - Including all associated weld locations.

2. Choose Process tab → Discrete group → Automatic Approach Angle .

The Automatic Approach Angle dialog box opens.

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 Important: If results are not as expected, you may need to change from default collision sets to
collision viewer active sets by using Configure advanced collision options.
The Automatic Approach Angle toolbar provides the following tools:

Button Name Description

Flip Locations Enables you to rotate the robot's welding gun
180 degrees around the approach axis to the
location.
Pie Chart Enabled when a single location is selected.
Opens the selected location in Pie Chart.

Auto Create Collision Set Enables you to create a collision set from the
current Automatic Approach Angle data. The
collision set appears in the Collision Viewer and
is configured according to the advanced options
you set in the Collision tab.

If you have enabled Collision Viewer active

sets in the advanced options, the Auto Create
Collision Set function is disabled. The collision
set is named according to the following
convention: AAA_<robot_name><gun_name>.
Check current reachability and Checks the current reachability and collision
collision status status of the listed locations and displays the
results in the R column. You can remove
the reachable, non-colliding locations before
proceeding with the calculation to save
resources and reduce the time required to
complete the calculation. If all the locations are
reachable and non-colliding, there is no need to
perform the calculation at all.
Follow mode When active, selecting a location in the
Automatic Approach Angle window causes
the assigned robot to jump to that location.
If the location is not reachable, a message is
displayed.

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 If you change the Robot setting to specify a
robot to which the Locations are not assigned,
Follow Mode becomes inactive.

The Automatic Approach Angle dialog box includes the following fields:

Name Description
Robot Indicates the name of the robot used for calculating the approach vector.
• If the selected weld locations belong to operations associated with one robot,
the robot name appears in this field.
• If the selected weld locations belong to operations associated with different
robots, a dropdown list in this field enables you to select a robot.
When a robot name is displayed in the Robot field, the name of the robot's
welding gun appears in the Tool field.
Tool Indicates the tool mounted on the robot displayed in the Robot field.

Note
• If the selected locations belong to a mounted tool operation or do not
belong to any operation or no locations are selected, the list displays only
tools mounted on the selected robot.
• Tools assigned to external TCP operations are also displayed in the list.

TCPF If you have previously configured a number of different frames that can be used
as a frame for the tool, this list enables you to select the relevant frame. For
example, as the tip of a weld gun recedes during use, you can select a tool
frame with an offset to compensate and retain accuracy.
Tool Pose Enables you to select the pose to use for calculating the collision status. The
default pose is Close.
If you have created a pose with the same name as the specified Tool Frame, it is
automatically selected.
Locations Displays the selected locations. Enables you to specify the locations whose
approach vectors you wish to configure.
R After clicking Apply, this field indicates the reachability of the selected robot for
(Reachability) each location. The following values are possible:

The specified robot has reachability for this location. This result
corresponds to the largest All OK sector within the robot working limits, as
described in Pie Chart.

The specified robot has full reachability for this location outside its
working limits (but within its physical limits). This result corresponds to

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 Name Description
the largest All OK sector within the robot physical limits. If Indicate joint
working limits is selected, (refer to Motion tab), is displayed.

The specified robot has full reachability for this location outside its
physical limits. This result corresponds to the largest All OK sector outside
the robot physical limits. This is only possible if Limit joint working motion
(refer to Motion tab) is clear.
The specified robot cannot reach this location, or collision was detected
with another object in the study, for example, the mount plate — see
Advanced Collision Options.

Note
For information on configuring the background colors of these icons, refer to
Appearance tab.

Automatically When this check box is activated, if a solution is not found for the current
flip if needed location orientation, the Automatic Approach Angle mechanism flips the
location in an attempt to find full reachability and accessibility. If this does not
succeed, it flips the location back to its original orientation.
Location Select one of the following:
Rotation
• Optimal zone - If the Automatic Approach Angle needs to rotate a location,
it selects the biggest All OK section, as illustrated in the following pie chart
diagrams:

• Minimal change - If the Automatic Approach Angle needs to rotate a

location, it makes the smallest change possible that still provides reachability
and non-collision. This setting is used typically with continuous operations

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 Name Description
where it is desirable to remain as close as possible to the original route, as
illustrated in the following pie chart diagrams:

• Smooth - The Automatic Approach Angle application rotates locations to

the center of their collision-free and reachable sections and groups them
accordingly. In this way, the assigned robot executes one group of locations
with a common approach angle then adjusts its approach angle for the next
group. In the following example, the locations on the left are rotated to
enable the same approach angle and those on the right to enable another
approach angle, enabling the robot to perform a minimum amount of
rotating and creating a smooth robot path.

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 Name Description

3. You can click the following icons:

• - Displays definitions of the Location Rotation options.

• - Plays a short animation of the location rotation.

4. If more than one robot is displayed in the Robot dropdown list, select the robot to use for configuring
the weld location approach vectors. The selected robot's welding gun appears in the Gun field.
5. In the Pose field, select the gun pose to use for calculating the robot collision status. The default
value is Close.
6. In the Locations list, select the locations to configure.

Note
If you add to the Locations list a location that is not assigned to the specified robot, the Robot,
Tool, TCPF, and Tool Pose parameters are cleared and you must set them manually. In this case, it
is likely that the algorithm will not find a solution.

7. If required, click to rotate the robot's tool 180 degrees around the approach axis to the location.
8. Click Execute.
The command performs the following:
• Calculates the reachability and collision status around the perpendicular for each selected location.
The reachability and collision information appears in the Locations list.

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 • Configures the approach vector for each selected location by rotating the weld location around the
perpendicular to the middle of the largest zone of robot reachability without collision, called an
allowed zone.

Note
You can view allowed zones for the robot using the Pie Chart.

9. Click Close to exit the Automatic Approach Angle dialog box.

This video demonstrates how to use Automatic Approach Angle to align multiple
locations to full reach and check for collisions.

Note
Videos are not included in PDF. To access videos, use HTML.

Pie Chart

The Pie Chart option enables you to determine the approach vector for a tool to a selected location. It
provides an easy method for determining how a robot with a mounted tool should approach a location in
order to perform its task - the system calculates the approach for the robot and its mounted tool. If a robot
has not been assigned, the Pie Chart option enables you to determine the tool collision status. You can
also use Pie Chart to create a collision set.

Note
If the Use location information in static applications option in the Motion tab is set, the system
acquires simulation information from locations or from the parent operation. Therefore, the Robot and
Tool fields are inactive.

Procedure

1. Select a location in the Graphic Viewer or the Object Viewer.

2. Choose Process tab → Discrete group → Pie Chart .

The Location Pie Chart dialog box is displayed.

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 The Pie Chart toolbar provides the following tools:

Step Size Opens the Pie Chart Settings dialog box.

Set the sampling step size when calculating the robot approach
orientation. This is a trade-off between speed and accuracy - speed of

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 calculation increases the smaller the step size, but the accuracy of the
result is compromised.
Flip Locations Enables you to Flip Locations. This button is enabled as long as a valid
location is selected in the location field. Deleting the location deactivates
the button.
Reset Enables you to reset the Approach axis to the “6 o'clock” position.
Approach
Axis
Auto Create Enables you to create a collision set from the current Pie Chart data. The
Collision Set collision set appears in the Collision Viewer and is configured according to
the advanced options you set in the Collision tab .

If you have enabled Collision Viewer active sets in the advanced

options, the Auto Create Collision Set function is deactivated.
The collision set is named according to the following convention:
PCH_<robot_name><tool_name>.

3. From the Robot dropdown list, select the robot in use at the selected location. You can also select the
robot in the Graphic Viewer.
4. If the robot has not been assigned yet, or if there is no access to the robot, select the tool that will be
used at the selected location from the Tool dropdown list. This enables you to determine the correct
orientation of the tool position to avoid collision. Once the robot has been assigned, the approach
vector for reachability can be determined.

Note
• If the selected location belongs to a mounted tool operation or does not belong to any operation
or no location is selected, the Robot dropdown list displays only tools mounted on the selected
robot.
• If there is no selected robot, you can select any tool. If you later select a robot upon which the
selected tool is not mounted, clear the tool selection.
• If the selected location belongs to an external TCP, the Robot dropdown list displays only those
tools assigned to the location (this is independent of whether a robot is selected or not).
• If you select an incorrect tool, the system returns an error message.

By default, the robot approaches the selected location along an approach axis displayed initially in the
“6 o'clock” position, as shown in the Location Pie Chart dialog box above. The pie chart provides a

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 color-coded display that indicates the areas in which the robot can and cannot reach the location as
well as the area where collisions occur. The color indications are as follows:

Red Not Reached The selected robot cannot reach the selected location.
Yellow Reached - The selected robot can reach the selected location but there is a
Collision collision when the tool is in the closed position.
Orange Reached - The selected robot can reach the selected location but there is a
Collision collision when the tool is in the semi-open position.
Brown Reached - The selected robot can reach the selected location but there is a
Collision collision when the tool is in the open position.
Blue Reached The selected robot can reach the selected location.

Additionally, the circumference of the Location Pie Chart indicates in which areas the robot is
within its working limits, exceeds its working limits, or exceeds its physical limits. For information on
configuring these parameters and their colors, refer to Motion tab.
5. Rotate the location with its approach axis around the perpendicular (Z) axis and ascertain the best
approach in one of the following ways:
• Drag the slide bar beneath the pie chart until the location and its approach axis reach a desired
“All OK” (blue) slice. “All OK” means that the robot can reach the location without collision from the
area represented by this slice.

Tip
You can change the step size by clicking the Step size hyperlink and specifying a new step size in
the displayed Step Size dialog box.
• Click the number spin box next to the slide bar to rotate the location with its approach axis by the
specified number of steps.

• Rotate the location with its approach axis automatically to an “All OK” slice by clicking

(“Previous”) or (“Next”). These buttons are enabled only when the pie chart for the current
location contains at least one “All OK” slice.
The first time you click either of these two buttons after changing the current location, the
location with its approach axis rotates to the center of the largest “All OK” slice in the pie within
the robot's working limits. If there is no such slice, it moves to an “All OK” slice outside the
working limits but within the physical limits, and failing that to an “All OK” slice outside the
physical limits.

When you click after rotating the location to the largest “All OK” slice in the pie, the location
with its approach axis moves in a clockwise direction to the nearest “All OK” slice.

When you click after rotating the location to the largest “All OK” slice in the pie, the location
with its approach axis moves in a counterclockwise direction to the nearest “All OK” slice.

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 Rotating the location using the “Next” and “Previous” buttons updates the “Rotate Location
Around Perpendicular” slider and numeric spin box controls.

Tip

• Click to reset the Approach axis to the “6 o'clock” position.

• Click to perform a Flip Locations operation.

This button is enabled as long as a valid location is selected in the location field. When you delete
the location, the button is deactivated.

Note
• If Limit joint motion is clear and Indicate joint working limits is set (refer to Motion tab), both
working and physical limits are displayed in the legend.
• If both Limit joint motion and Indicate joint working limits are set, only the working limits are
displayed in the legend. Physical limits are omitted.
• If Limit joint motion is set and Indicate joint working limits is cleared, there is no sector notification
at all.
• If both Limit joint motion and Indicate joint working limits are cleared, sector notification is only
provided for cases outside the physical limits.

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 Gun Cloud

Gun Cloud

You can use the Gun Cloud command to create a gun cloud that simultaneously displays a weld gun at
every location in weld, continuous, or robotic generic operations. You can also create a gun cloud for
operations with multiple guns. When you have configured the gun cloud as desired, you can export the
data to a JT file using Export to JT.

Procedure

1. Select an operation and choose Process tab → Discrete group → Gun Cloud .

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 The Locations list displays all the locations in the selected operation. Check the locations for which
to create a gun and clear those to omit.
2. If you did not select an operation before launching the command, select one that contains weld guns
- the selection populates the Operation field in the dialog box.

3. Click Filter by Type if you wish to filter the Locations list by location
type.The application displays a weld gun at every location.
4. In Export, specify which objects to display.
• All visible data
• Assigned parts and guns
• Visible parts and guns
• Guns only
The display is updated.

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 Weld Distribution Center

Each gun is displayed (using its current pose) at its location according to its designated orientation for
that location. Only the data currently displayed is exported to the JT file in the next step.
5. Click Export if you wish to export the data as a JT file to aid in further planning.

Weld Distribution Center

The Weld Distribution Center enables you to analyze weld points of selected stations or operations. Using
the Weld Distribution Center, you can position weld points efficiently and automatically to create a better
weld point distribution.

The Weld Distribution Center displays the following information in a table format:

• Reachability of the weld location by selected robots.

• Robot collision information.
• Operations on weld locations.
• Planned and simulated times for operations.
• Robots assigned to specific operations.

By default, the Use location information in static applications option in Motion tab is cleared and the
system runs in Planning mode, where each operation is performed by a defined gun.

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Weld Distribution Center

If you set Use location information in static applications, the Weld Distribution Center runs in Simulation
mode and acquires simulation information from locations or from the parent operation. Each weld location
is marked with the name of the simulated gun.

In addition to displaying information, the Weld Distribution Center enables you to do the following:

• Assign and unassign weld locations to operations.

• Configure a default weld time for weld points.
• Configure the devices and gun poses to include in a collision check.
• Move a robot to a weld point.
• Match the attributes of weld points and guns. The result of the match is displayed in the Attribute
column and enables you to make optimal allocations of weld points to guns (and robots on which

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 Weld Distribution Center

guns are mounted). The information required for matching is stored in WdcAttributesMatching.xml in
the All Users directory. The following is the default code:

<AttributesDefinition>
< AttributesMatching>
<Wp>
<WpClass>WeldPoint</WpClass>
<WpAttribute>wpAttribute1</WpAttribute>
</Wp>
<Operator> =</Operator>
<Gun>
<GunClass >Gun</GunClass>
<GunAttribute >gAttribute1</GunAttribute>
</Gun>
</AttributesMatching>
<AttributesMatching>
<Wp>
<WpClass>WeldPoint</WpClass>
<WpAttribute>wpAttribute2</WpAttribute>
</Wp>
<Operator> ></Operator>
<Gun>
<GunClass >Gun</GunClass>
<GunAttribute>gAttribute2</GunAttribute>
</Gun>
</AttributesMatching>
</AttributesDefinition>

Note
◦ The weld points are defined in the <Wp> section and the guns in the <Gun> section. Replace
<WpClass> with your own weld point classes and <GunClass> with your own gun classes.
◦ Replace <WpAttribute> and <GunAttribute> with your own attributes.
◦ Take care to use the names exactly as they appear in your schema.
◦ When you define multiple matching criteria, the system requires all the conditions to be fulfilled,
i.e., Attribute1 AND Attribute2 must both be TRUE.
◦ If a value cannot be retrieved, the match is omitted and the result displayed in the Attribute column
is derived from the matches that were successful.
◦ If the system cannot perform any matches, the Attribute column remains empty and is not taken
into account for weld ability calculations.

• Export the displayed information to an Excel spreadsheet.

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Weld Distribution Center - Mounted Workpieces

Weld Distribution Center - Mounted Workpieces

Weld Distribution Center automatically detects whether the robot gun is mounted on its TCP (Mounted
TCP) or whether the workpiece is mounted on the robot TCP and the gun is a fixed gun (External TCP
or Mounted Workpiece). In the Mounted TCP configuration, each robot has a single gun, but in Mounted
Workpiece configuration, each robot may have a number of guns. The following example shows a robot
with one gun in Mounted TCP configuration and two more guns in Mounted Workpiece configuration. You
could use this setup to test which gun gives the best results for the robot being tested.

Note
To improve performance, the Weld Distribution Center omits checking invalid scenarios. For example,
if a weld location is attached to a part gripped by the robot (External TCP), calculating weld ability is
irrelevant. These scenarios are shaded in gray.

If you are running in Simulation mode. the robot may use different guns for different locations in the
operation.

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 Weld Distribution Center - Main Window

Weld Distribution Center - Main Window

The Weld Distribution Center contains controls enabling you to select the robots, operations, and weld
locations to include in the information table. Adding one of these elements to the table automatically adds
related elements, enabling you to see the relationships between the robots, operations, weld points, and
weld locations.

The following figure shows the organization of robots, operations, and weld points in the Weld Distribution
Center.

Robot and operation details are displayed in rows at the top of the Weld Distribution Center, as described in
the following table:

Row Description
Robot Displays each robot in the Weld Distribution Center.
Gun Displays each gun mounted on each robot.
Operation Displays each operation assigned to each robot.
Actual time Two time values are displayed:
(planned time)
• Actual time: The sum of the preconfigured planned time values for each weld
location in the operation.

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Weld Distribution Center - Main Window

Row Description
• Planned time: Displayed in parentheses ( ). The preconfigured planned time for
the operation.

Note
When the Actual time exceeds the Planned time, the values are displayed in red.

Verified simulation Displays the time required for the operation in the simulation.
time
Location Indicates whether the data displayed relates to the current weld point or the
orientation flipped weld point.
Weld Ability Status Indicates that it is possible for one of the robots represented in the Weld
Distribution Center to perform the weld. Possible values: : Indicates that
the weld point is reachable AND accessible AND its matching Attribute is TRUE.
[Nothing]: Indicates that the weld point is EITHER not reachable OR not accessible
OR its matching Attribute is FALSE.

Note
If the system cannot calculate the matching Attribute, this is not taken into
account when computing Weld Ability Status.

Weld locations are displayed in rows below the robot and operation information. The following table
describes the information contained in the columns for each row:

Column Description
Indicates the global weld ability status (whether robots can reach the weld point
without any collision).

(First column in
the table) - at least one robot has full reachability for this location without collision.

- at least one robot can gain full reachability for this location without collision if
it is rotated.

- the weld point cannot be accessed due to robot reachability limitations or

because of collisions with loaded robots.
<empty> - information for weld point global weld ability is missing.
Weld Point Weld point name.
subType Subtype of the weld point.

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 Weld Distribution Center - Main Window

Column Description

Note

The subType attribute appears by default. You can click to customize the
attributes displayed in the Weld Distribution Center, as described below.

Reachability: The table includes a Reachability column for each displayed robot. The
following result indications are listed in descending order of the robot's ability to reach
the weld point:

- the robot has full reachability to match the location of the weld point.

- the robot has partial reachability to match the location of the weld point. The
robot reaches the weld point, but must rotate its TCPF to match the TCPF of the weld
point.

- the robot has full reachability to match the location of the weld point if it
exceeds its working limits.

- the robot has partial reachability to match the location of the weld point if
it exceeds its working limits. The robot reaches the weld point, but must rotate its
TCPF to match the TCPF of the weld point.

- the robot has full reachability to match the location of the weld point if it
exceeds its physical limits.

- the robot has partial reachability to match the location of the weld point if
it exceeds its physical limits. The robot reaches the weld point, but must rotate its
TCPF to match the TCPF of the weld point.

- the robot cannot reach the weld point.

[Blank] A blank cell indicates that robot reachability is irrelevant for one of the
following reasons:
◦ The weld location is not projected to any part.
◦ The operation does not have a robot assigned to it, only a gun.

Note
For information on configuring the background colors in these icons, refer to
Appearance tab.

Accessibility: The table includes an Accessibility column for each displayed robot.
The following result indications are listed in descending order of the robot's ability to
access the weld point:

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Weld Distribution Center - Main Window

Column Description

- the robot has access to match the location of the weld point without collision.

- the robot has partial access to match the location of the weld point. The robot
can access the weld point if the latter is rotated. In this case, the robot approaches
the weld point from a different angle.

- the robot has access to match the location of the weld point if it exceeds its
working limits.

- the robot has partial access to match the location of the weld point if it
exceeds its working limits. The robot reaches the weld point, but must rotate its
TCPF to match the TCPF of the weld point.

- the robot has access to the weld point if it exceeds its physical limits.

- the robot has partial access to match the location of the weld point if it
exceeds its physical limits. The robot reaches the weld point, but must rotate its
TCPF to match the TCPF of the weld point.

- the robot does not have access to match the location of the weld point due to
collision.
[Blank] A blank cell indicates that the robot is not able to reach the weld point
or that the weld point is not projected to any part. In either case, accessibility is
irrelevant.

Note
• The Weld Distribution Center offers optimum weldability solutions. The
Reachability column presents the best reachability solution for each robot. The
Accessibility column presents the best reachability solution taking collisions into
consideration as well. For example, partial reachability within working limits is
preferable to full reachability outside them, while partial reachability outside
working limits is preferable to full reachability outside physical limits.
• For information on configuring the background colors in these icons, refer to
Appearance tab.

Attribute: The matching Attribute indicates whether the weld point and gun attributes
match. Possible values:

: True: The weld point and gun attributes match.

: False: The weld point and gun attributes do not match.

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 Weld Distribution Center in Standalone Mode

Column Description
[Nothing]: The system could not evaluate the matching definitions in
WdcAttributesMatching.xml.
Assign (x) The column header indicates the number of weld points assigned to each operation,
where x is the number of weld points.

• - the weld point is not assigned to the operation.

• - the weld point is assigned to the operation.

Weld Distribution Center in Standalone Mode

You can run the Weld Distribution Center in Standalone Mode. For more information on Standalone
Mode, refer to Using Process Simulate Disconnected to Work Locally. When creating a PSZ file to run
in Standalone Mode, you can select to save ToolInstance and Mfgs or All Types of eMServer attributes.
Saving eMServer attributes takes extra time and the PSZ file will be larger. If this information is not
important for you, do not use this option. For information on how to save attributes in the PSZ file, refer to
the eMServer Tab.

When running the Weld Distribution Center in Standalone Mode:

• eMServer attributes cannot be changed. When loading the PSZ file back to the eMServer, the attributes
from the PSZ file are discarded; the attribute values stored in the eMServer database are used.
• The following features are not active if you did not save eMServer attributes in the PSZ file:
◦ Configure classes and attributes
◦ Check weld point vs. gun attributes
◦ Filter by subtype
◦ Attribute columns are not displayed

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Use the Weld Distribution Center

Use the Weld Distribution Center

Procedure

1. Choose Process tab → Discrete group → Weld Distribution Center to open the Weld
Distribution Center.

Note
To display operations, robots, weld locations, or weld points in the Weld Distribution Center, you
can select the objects in the Graphic Viewer, Relation Viewer, or Object Viewer before opening the
Weld Distribution Center.

To display an operation station in the Weld Distribution Center, you can select the station from the
Object Viewer or Graphic Viewer before opening the Weld Distribution Center.

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 Note
Activating the Weld Distribution Center for a selected station includes additional loading of weld
points that are not assigned to an operation, and are located directly under the station.

The selected items appear in the Weld Distribution Center when it opens. The weld locations are

loaded in the Weld Distribution Center, but you have to click the Calculate Weld Ability icon to
perform the calculation.
The Weld Distribution Center displays:
• Reachability and accessibility information about weld points in their current and flipped orientation
(refer to Flip Locations).
• The current assignment of weld points to operations and robots.
• Weld points that are not assigned and that remain nested directly under the station in the Object
Viewer

Note
• Weld operations that are defined without a robot will be supported in the Weld Distribution
Center and Automatic Approach Angle.
• Collision status is checked for weld points that are assigned to an operation with a gun and no
robot. (Reachability status remains empty).
• Collision settings include guns that are assigned to a weld operation without a robot.

2. Select a function from the following buttons available in the Weld Distribution Center:

Button Name Description

Add Adds an object selected in any viewer to the Weld Distribution Center.
objects to Valid object types are robots, operations, weld locations, and weld points.
view
This button is activated when you select a valid object in a viewer.
• Adding a robot automatically adds all of the robot's operations and the
weld points assigned to the robot.
• Adding an operation automatically adds the robot and the weld points
assigned to the operation.
• Adding a weld point automatically adds any operations and robots
assigned to the weld point.
Remove Removes the selected object from the Weld Distribution Center.
objects
This button is activated when you select an object in the Weld Distribution
from view
Center.

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 Button Name Description
Calculate Refreshes the calculation of robot collisions and reachability. The
Weld calculation updates the display of collision and reachability information
Ability in the Weld Distribution Center.
You can select the range of items for which to refresh the collision and
reachability calculation, as follows:
• To refresh the calculation for the entire list, do not select any rows.
• Select specific rows to refresh the calculation for only the selected
items.

Note
If you have performed a weld ability calculation and closed the Weld
Distribution Center, the system retains the weld ability results if you
reload the identical scenario.

Automatic Operates on all the unassigned, selected weld points displayed in the
ally Weld Distribution Center and assigns a robot that meets the following
assign to requirements:
available
• Reaches the weld location.
robots
• Does not collide with other components at the station. By default,
devices (including other robots and guns) are not included in this
requirement. You can include devices in the calculation using the

Settings dialog box (see Settings button).

Note
• If more than one robot meets the above requirements, the Weld
Distribution Center assigns the closest robot.
• The command ignores weld points already assigned to a robot.
• You can use standard Windows keys to make multiple selections of
weld points.

Automatically Assign to Available Robots behaves according to the

following logical flow:
1. Process Simulate checks whether the robot can access the weld
point. If access is possible, Process Simulate assigns the location to
the robot. If access is blocked, Process Simulate proceeds to the next
test.
2. If Apply Automatic Approach Angle is checked and the weld
location can be rotated to become reachable and accessible to the
robot, Process Simulate rotates the location and assigns it to the

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 Button Name Description
robot. If this is not possible, Process Simulate proceeds to the next
test.
3. If Check Flip Weld Location is checked, Process Simulate flips the
location and checks whether the robot can access the weld location.
If access is possible, Process Simulate assigns the location to the
robot. If access is blocked, Process Simulate proceeds to the next test.
4. If Apply Automatic Approach Angle is checked and the weld
location can be rotated to become reachable and accessible to the
robot, Process Simulate rotates the location and assigns it to the
robot.
If the weld location remains unassigned, Process Simulate flips the
location back to its original position.
Unassign Unassigns all the assigned, selected weld points displayed in the Weld
from Distribution Center. After this operation, the weld points are nested
robots directly under the station in the Object Viewer.
Open the Opens the Pie Chart for a selected weld point or robot.
Pie Chart
tool
Automatic Solves the partial reachability and accessibility problems of the selected
Approach weld points by rotating the weld points. This enables the robot to
Angle approach from a different angle.

Note
• The system calculates the solution without opening the Automatic
Approach Angle dialog box, by using the robot to which the weld
location is assigned, and the gun poses that were set in the Collision
settings of the Weld Distribution Center.
• The system uses the Automatic flip, Optimal zone, and Minimal
change settings last saved in the Automatic Approach Angle dialog
box.

Settings Opens the Settings dialog box, enabling you to configure the following:
• Default weld time.
• Inclusion of specified devices for robot collision calculations.
• Inclusion of specified welding gun poses for robot collision calculations.
Configure Opens a dialog box enabling you to configure the classes and attributes to
attribute display in the Weld Distribution Center.
list

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 Button Name Description
Auto Enables you to create collision sets from the current Weld Distribution
Create Center data. The collision sets appear in the Collision Viewer and are
Collision configured according to the advanced options you set in the Collision tab.
Set

If you have enabled Collision Viewer active sets in the advanced options, the Auto
Create Collision Set function is disabled. If a robot or operation is selected, the system
creates a collision set for the selected item. If nothing is selected, the system creates
collision sets for each robot in the Weld Distribution Center. The collision sets are named
according to the following convention: WDC_<robot_name><gun_name>.
Jump Moves the robot to the selected weld point.
robot to
weld point Note
To select a weld point for the Jump robot to weld point option, click
the weld point's cell in the Reachability column of the desired robot.

Tip
Double-clicking a weld point's cell in the Reachability column of the
desired robot performs the same function as Jump robot to weld point.

Filter Filters the display of weld points in the Weld Distribution Center according
to the criteria configured in the Filter button's dropdown menu. Configure

the filter criteria by clicking at the right of the Filter button to display
the dropdown menu.

• Use SubType filters to display weld locations of a specific subtype.

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 Configure Weld Distribution Center settings

Button Name Description

• Use Assignment filters to display only assigned or unassigned weld
locations.
• Use Weld Ability filters to display weld locations by their weld ability
status, as follows.

◦ Full ( ) At least one robot has full reachability for this location
without collision.

◦ Partial ( ) At least one robot can gain full reachability for this
location without collision if it is rotated.

◦ None ( ) The weld point cannot be accessed due to robot

reachability limitations or because of collisions with loaded robots.
◦ Not Calculated Information for weld point global weld ability is
missing.
The weld ability status of a weld point can be determined specifically -
by the robot (or gun) to which the weld point is assigned - or globally
- by considering any of the loaded robots (or guns), regardless of its
assignment. The weld point global weld ability is determined by the best
weld ability status found. Select By Assigned to filter by weld ability by the
assigned robot (or gun). Select By Any to filter by global weld ability status
(consider all the loaded robots or guns).
Checkmarks in the dropdown menu indicate the selected filter criteria. You
can combine Subtype, Assignment and Weld ability filters to refine your
search.
Select Clear All to clear the selected filters and display all the loaded weld
locations in the Weld Distribution Center table.
Export to Exports the current Weld Distribution Center display to an Excel file. Icons
Excel are not included in the Excel worksheet.

Flip Weld Flips the physical orientation of the selected weld points and recalculates
Points their reachability and accessibility.

Configure Weld Distribution Center settings

Procedure

1. In the Weld Distribution Center, click .

The Settings dialog box appears.

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 2. If required, enter a new value in the Default Weld Time field.
The new default weld time takes effect after closing the Settings dialog box and closing and re-
opening the Weld Distribution Center.

Note
The default weld time determines the weld time that the Weld Distribution Center assigns to weld
locations without a previously assigned weld time.

3. Collision Check displays a list of all the guns with their defined poses. Check the poses you wish the
system to investigate.
You can also do one of the following:

• Click to select all the poses of all the guns.

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 If a gun is selected when you click this icon, the system selects only the poses of the selected gun.

• Click to clear all the poses of all the guns.

If a gun is selected when you click this icon, the system clears only the poses of the selected gun.

Note
The results of the collision check are displayed in the Accessibility column for each robot.

4. Check or clear Apply Automatic Approach Angle on Assignment as desired.

When checked, invoking Automatically assign to available robots causes the Weld Distribution
Center to do the following:
• Select all weld points with full or partial reachability and accessibility.
• Assign each weld point to the closest robot.
• Run Apply Automatic Approach Angle to create full reachability and accessibility, if necessary.
When Apply Automatic Approach Angle on Assignment is cleared, the Weld Distribution Center
only assigns weld points with full reachability and accessibility to the closest robot.

Note
Apply Automatic Approach Angle is performed when for Automatic Assignment and Manual
Assignment (users assign the location to the robot in the grid), but it is not performed for
Calculate weld ability (Refresh).

5. Clear Check flipped weld locations to only include weld points in their original orientation in the
calculations.
If you also wish to include flipped weld points (in addition to weld points in their original orientation),
check Check flipped weld locations and then check one of the following:
• Check for all weld locations.
The Weld Distribution Center checks all flipped weld points, both resolved and unresolved.
• Check for unresolved weld locations.
The Weld Distribution Center only checks unresolved flipped weld points.

Note
The Weld Distribution Center always enables you to flip weld points (using the Flip Weld Points
button), irrespective of this setting.

6. Check Weld point vs. gun attributes to cause the Weld Distribution Center to display the Attribute
column.
This column shows the result of attribute matching between weld points and guns.

Note
This option is only available when the system detects a valid WdcAttributesMatching.xml file.

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Configure the Weld Distribution Center attribute list

7. Click Table to configure table settings.

The Table Settings dialog box appears.

8. Check the Name Columns you wish to appear in the Weld Distribution Center table and click OK.
9. Click OK. The Settings dialog box closes.

Configure the Weld Distribution Center attribute list

Procedure

1. In the Weld Distribution Center, click .

A dialog box appears, displaying the classes and attributes displayed in the Weld Distribution Center.
The Class list contains a tree view containing the following classes and their attributes:
• Weld point
• Mfg Feature
• User-defined
The Attributes list contains the object attributes displayed in the Weld Distribution Center.
2. If required, add an attribute from the Class list to the Weld Distribution Center display as follows:
a. In the Class list, select the desired attribute.

b. Click to copy the selected attribute to the Attributes list.

Note: You can click to copy all of the attributes in the Class list to the Attributes list.
3. If required, remove an attribute from the Attributes list as follows:
a. In the Attributes list, select the attribute to remove.

b. Click to remove the selected attribute from the Attributes list.

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 Export the information in the Weld Distribution Center to an Excel worksheet

Note

You can click to remove all of the attributes from the Attributes list.

4. If required, change the order in which attributes are displayed in the Weld Distribution Center as
follows:
a. In the Attributes list, select an attribute.
b. Click Move up or Move down to change the position of the attribute in the Attributes list.

Note
Attributes that are higher in the Attributes list are displayed farther to the left in the
Weld Distribution Center.

5. Click OK. The dialog box closes.

Export the information in the Weld Distribution Center to an Excel worksheet

Procedure

1. In the Weld Distribution Center, click . The WDC - Export to Excel dialog box appears.
2. Enter a file name for the Excel file.
3. Click Save. An Excel file is created containing the information in the Weld Distribution Center. The
icons displayed in the Weld Distribution Center are not included in the Excel worksheet.

Weld Quality Report

The Weld Quality Report generates a report that shows information about pairs — a weld point and its
associated location, and each pair is represented as a row in the interactive report. The report helps you to
evaluate the process’ maturity related to the weld data, to determine the deviation between the weld point
and its location, and whether there are any missing or duplicate locations. This enables you to judge the
accuracy and quality of the process, and verify that it conforms with the relevant standards.

The Weld Quality Report calculations are based on the absolute values of the weld locations. If, however,
the locations are taught, the report displays values based on the taught local frames received after
running simulations. If the parent operation is a mounted workpiece operation, the robot tool frame is also
required.

The Weld Quality Report can be used in scenes running in standard mode (but not for those running in
line simulation mode). Refer to Customize for information on how to configure the Weld Quality Report
context menu.

You can also filter the report and export its data to Excel.

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Using the Weld Quality Report

Using the Weld Quality Report

Procedure

1. Select weld operations, compound operations, the process root node or Mfgs in the Object Viewer or
Mfg Viewer.

Note
You should verify that products are at their correct welding location before running the report.
Otherwise, the calculations for taught locations may show unexpected values in the Weld Quality
Report. Use the following steps to achieve correct results for mounted workpiece operations (and
for cases when grippers hold the product during welding):
a. Create a static part appearance of the part, set it as a primary appearance and assign it to the
operation.
b. Place the part appearance in the correct part position according to the operation (attached to
gripper/placed on a stand etc.).
c. Open Weld Quality Report which displays the correct Distance values.

2. Choose Process tab → Discrete group → Weld Quality Report .

The Weld Quality Report opens and is populated with the objects you selected. The report calculates
and displays values for all the parameters currently displayed.

The Weld Quality Report displays information about weld point/weld location pairs. If multiple
locations are associated with the Mfg, the report displays a row for each one.
Distance and Off Normal cells are highlighted in red if their weld point discrepancies are greater than
the maximum discrepancies configured in the Settings dialog box (see below) Weld Location cells
are highlighted in red if there is a projection problem. In all these cases, relevant icons are displayed
in the Status column; hovering over the status icons displays a descriptive tooltip.

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 Note
If the location is not projected, the status "Not Taught" becomes irrelevant, and is not displayed in
the tooltip.

If there are no issues and the location fits the weld point perfectly, the color of the row remains
white and there are no status warnings. If there are one or more issues, the background of the row is
colored gray and the column specific to the issue is colored red, to indicate deviance in distance or off
normal, as defined in the Settings.
There are three status categories: Calculation, Projection, and Taught Location Calculation, as follows:
• Calculation Statuses - The specifications for these parameters are defined in the Settings dialog
box, described below.

◦ - Off Normal The angle between the normal vector of the original location and the current
normal vector of the location. This is measured from the perpendicular and is calculated based
upon the Weld Location Orientation, Perpendicular parameter in Weld tab.

From the Weld Quality Report - Properties Customization dialog box (below), you can select
two additional columns to display in the Weld Quality Report to extend Off Normal discrepancy
reporting:
◊ Off Third: displays the third axis (the remaining value after subtracting the Perpendicular and
Approach axes)
◊ Off Approach: displays the rotation over the Approach axis, as defined in the Weld Tab

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 Note
◊ If the weld point has not been projected, this cell remains empty.
◊ Projected locations that existed prior to v11.1 may display with incorrect Off-normal values
in the Weld Quality Report. Re-projection is required in order to solve this.
◊ (For data created in Tecnomatix versions 9.1 and higher): The original location projection
includes flipping of the projection. If the location was flipped after the projection, the
flipped orientation becomes the original projection.
◊ The Off Third and Off Approach columns are optional, and users can choose to display one
or both in the report. They contain absolute, only positive values.

◦ - Distance. The distance between the current weld location position and the weld point
position.

From the Weld Quality Report - Properties Customization dialog box (below), you can
select three additional columns to display in the Weld Quality Report to extend Distance
discrepancy reporting. The Dx, Dy and Dz columns divide the total distance value to its x,y
and z components.

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 Note
These columns are optional, and users can choose to display one or more of them in the
report. They contain absolute, only positive values.

• Projection Statuses

◦ - Missing Projected Location. The weld point has a weld location that is not projected.

◦ - Duplicated Projection. The weld point has multiple projected weld locations.

• If the Refer to Taught Location checkbox is set, the system uses the taught value when calculating
Distance and Off Normal and displays the following warning/errors:
◦ - No Taught Location. The weld location is not taught.

◦ - Missing Robot. The weld point has no assigned robot or the robot tool frame is missing.
Only relevant for a mounted workpiece operation.

3. Perform any of the following options in the Weld Quality Report window:

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 • Select objects in the Object Viewer or Mfg Viewer and click to add them to the Weld Quality
Report window.

• Select objects in the Weld Quality Report window and click to remove them.

• Click to refresh the display.

The Weld Quality Report repeats all its calculations and displays the updated information.

Note
You should use the Refresh button if the frame of reference is a Working Frame and the
Working Frame was changed while report is open.

• Click to open the Settings dialog box and configure the maximum discrepancy settings and
reference frame of locations.

Values higher than the configured distance or angle thresholds are highlighted in red, as they may
require additional inspection.
Weld Quality Report can perform analysis based either on the taught position of the selected
locations, or on their current position in the data set. If you set Refer to Taught Locations, the
Weld Quality Report refers to the position and orientation of the taught locations, but if it is
unchecked the Weld Quality Report refers to the locations themselves. When Refer to Taught
Locations is checked, the system always gives priority to using taught parameters.

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 In the Frame of Reference section you can define whether the reference frame is Each location
relative to its Self Frame. If you set All locations relative to a different frame of reference, an
icon of a frame is shown in the Dx, Dy, Dz columns headers of the Weld Quality Report.

Note
The Weld Quality Report reference frame refers only to the Dx, Dy, and Dz columns.

• The Weld Point, Weld Location, and Status columns are mandatory, but you can display and hide

other columns by clicking to access the Weld Quality Report - Properties Customization
dialog box.

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 There are two categories of columns, with optional parameters:
◦ Weld Quality Report Fields, providing calculated data, for example: Distance, Off Normal, and
Weld Point Position.
◦ Mfg Attributes, providing comparisons between parameters and attributes, for example, location
parameters.
The following are some of the more commonly used columns:

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 Filter the Weld Quality Report

◦ Connected Parts - Names of up to four parts connected to the weld point. These parts are
assigned to the Mfg. The first connected part is the leading part.
◦ Operation - The name of the weld location's parent operation.
◦ Robot - The name of the robot assigned to the parent operation (if such an assignment has been
made).
◦ Gun — The name of the gun assigned to the parent operation (if such an assignment has been
made).
◦ Location Parameters.
Use the arrow buttons in the center of the dialog box to select the columns you wish to display in
the Weld Quality Report.

• Click Distance Preview to toggle the state of distance preview lines.

When set, the Graphic Viewer displays a temporary yellow line representing the minimal distance
between the weld location and the weld point for all the selected rows. As you change your
selection of rows in the Weld Quality Report, the Graphic Viewer is updated accordingly. For
taught locations, the distance preview line is displayed between the weld point and the taught XYZ
location (even though the weld location may not be actually positioned there — as in scenarios
with moving parts, robotic operations over turn-tables, robot hands, etc.
• Click a column heading to sort the column in ascending order. Click it again to change the sort
order to be descending.
• Click and drag column headings to the right or left to create the column order that suits you best.
• Click a row to mark the entire row. Marking one or multiple rows highlights their respective
locations in the Object Viewer.

Note
An object is deleted in the Object Viewer and/or Mfg Viewer automatically, even without the
need to click the Refresh button, removing it from the Weld Quality Report.

• Weld Quality Report has a context menu that is configurable using Tools/Customize. Pre-select
one or more rows to activate the commands in this context menu (Zoom to Selection, Project
Weld Points, Pie Chart, etc.)

Filter the Weld Quality Report

Procedure

1. Hover your mouse over the header of the column by which you wish to filter the Weld Quality Report
until a small arrow appears.

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 2. Click the arrow.
The filter dialog box for the selected column appears.

The following filters are available according to the parameter type:

• Numerical filter

Select an operator, set a value and click Apply.

• String filter

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 Select an operator, set a value and click Apply. Additionally, you can set a second criterion and AND
or OR it with the first.
• Status filter

The filter displays a list of all the statuses currently displayed. Check those statuses by which you
wish to filter the display and click Apply.
In any of the filters, you can click Clear to cancel that filter or Cancel to clear filter settings.
3. Set the filter parameters and click OK.
The filter arrow is replaced by a check sign to indicate that the filter is active and the filter results are
displayed.

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 4. If you have set one or more filters, you can click to clear them all and display all the records in the
Weld Quality Report.

Note
The Weld Quality Report displays all values rounded to the number of decimal places you set in
Units tab. However, the Weld Quality Report takes into account exact values in all its calculations. For
example, if a parameter value is displayed as 20.0 and you set a filter to display all values smaller than
20.0, the record whose parameter is 20.0 will not be displayed if its accurate value is 20.01.

Export the Weld Quality Report to Excel

1. In the Weld Quality Report, click .

Note
If there are any active filters, the system informs you that filtered records will be omitted from the
Excel file. The system also offers you the option to clear all the filters and include all the records in
the Excel file.

2. When prompted, enter a name and a path for the new Excel file. The system exports the data and
opens the Excel file.

Note
The Excel file contains a column for each status that was displayed in the Weld Quality Report. For
example, Off Normal Discrepancy. Each record in the Weld Quality Report showing the Off Normal
Discrepancy icon is marked in the Excel file with an X in the Off Normal Discrepancy column.

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 Convert to Via Location

Similarly, if the Missing Robot Toolframe status was not displayed in the Weld Quality Report, there
is no Missing Robot Toolframe column in the Excel file.

Convert to Via Location

The Convert to Via Location tool enables you to convert weld or seam locations to robotic via locations.

• To convert weld locations:

1. Select weld locations or weld operations.
Selecting operations causes all the selected operations' locations to be selected.

2. Choose Process tab → Discrete group → Convert to Via Location .

The selected weld locations are converted to via locations.
• To convert seam locations:
1. Select seam or continuous operations.
Selecting continuous operations causes all the selected operations' seam operations to be selected.
2. Click Convert to Via Location.
The seam locations nested under the selected seam operations are converted to via locations and
nested under the parent continuous operation. The seam operations are removed.

Convert to Weld Location

The Convert to Weld Location tool enables you to convert robotic via locations to weld locations.

Procedure

1. Select via locations or weld operations. Selecting operations causes all the selected operations'
locations to be selected.

2. Choose Process tab → Discrete group → Convert to Weld Location .

The Convert to Weld Location dialog box appears.

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Adjust Location Orientations to Full Reach

3. Select a discrete Process (for example, spot or stud). This determines the discrete Mfg type to be
created.
4. Click Apply. The selected via locations are converted to weld locations.

Adjust Location Orientations to Full Reach

The Adjust Location Orientations to Full Reach tool realigns the orientation of selected locations so that
they are fully aligned with the robot TCPF (for machines with 4 and 5 axes).

Procedure

1. Select robotic operations or robotic locations.

2. Choose Process tab → Discrete group → Adjust Location Orientations to Full Reach .
The assigned robot jumps successively to the selected locations and updates the locations'
orientations to match that of the robot TCPF.

Note
The application first attempts to jump to locations with full reach, then with Align-Z, then with
Align-X, then with Align-Y, and finally with Origin-Only. Locations that are not reachable in all these
cases remain unchanged.

Torch Alignment

The Torch Alignment command enables you to edit seam locations created with Project Arc Seam. Using
this command to make small changes can save the need to create new operations.

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 Procedure

1. In the Object Viewer, select a seam operation or location.

2. Choose Process tab → Arc group → Torch Alignment .

The Torch Alignment dialog box appears.

3. Use the arrow buttons to select a location or type the location name. The system displays the location
in the Graphic Viewer with a Placement Manipulator.

4. Use the manipulator to adjust the position of the selected location.

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 5. Edit the Arc Alignment parameters of the selected location.
The following table describes these parameters:

Alignment Parameter Description

Travel angle The sideways tilt of the welding torch as seen
from the broadside view. The default value is 0
radians (the torch approaches the seam exactly
on the bisector).

Work angle The angle of approach measured along the

bisector. The default value is 0 radians (the torch
approaches the seam exactly on the bisector).

Spin angle The angle of the torch around its normal

(approach) vector. The default value is 0 radians.

Base wall offset A parallelogram can be defined by the original

projection location and the position of the
seam location after manipulation. The Base
wall offset is the length of the base of this
parallelogram.

Side wall offset A parallelogram can be defined by the original

projection location and the position of the seam
location after manipulation. The Side wall offset
is the length of the side of this parallelogram.

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 Alignment Parameter Description

Seam offset A parallelogram can be defined by the original

projection location and the position of the seam
location after manipulation. The Seam offset is
the length of the diagonal of this parallelogram
that connects the original projection location
and the seam location after manipulation.

Note
The offset is applied before applying the rotations (travel, work and spin angles), therefore it is
maintained as defined regardless of the rotations.

6. Select other locations and edit them.

7. You can cause the assigned robot to track the locations as you select them for editing, by clicking
Follow Mode. Click the button again to cancel Follow Mode.
If the location is not within the robot's reach, the system displays a ghost gun.

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Project Arc Seam

When the selected location comes within the robot's reach, the ghost gun disappears and the robot
jumps to the selected location.
8. By default, clicking Reset resets the current location to its original values.
9. Click the arrow beside Reset and select Reset All Edited Locations to return the Torch Alignment
dialog box to the state it was in when you launched it (resets all the edited locations to their original
values).
10. Click Close to close the dialog box.

Project Arc Seam

The Project Arc Seam command enables you to project an arc Mfg at the intersection of two parts or at
the intersection of two part faces and create an arc seam operation. You can use this command to create
operations for the arc welding two parts with a torch. Before performing this procedure, run the New
Continuous Feature Operation command to select a robot and to associate the arc Mfg with a continuous
operation.

Note
You can also use Mfgs that are not specifically arc Mfgs.

Procedure

1. Select an arc Mfg located at the intersection of two parts or the intersection of two part faces.

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 Note
Typically, the arc Mfg is located approximately at the intersection of the parts or faces - it does not
have to be exactly at the intersection.

2. Choose Process tab → Arc group → Project Arc Seam .

The Project Arc Seam dialog box appears.

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 The Features tree displays the target continuous operation as the parent node - this is represented by
the icon. The source arc Mfg is nested under the continuous operation and is represented by the
icon.

Note
• You can also launch the command after selecting multiple arc Mfgs assigned to the same
continuous operation.

The system displays two Mfgs under the target continuous operation.
• You can also launch the command after selecting multiple arc Mfgs assigned to multiple
continuous operations.

The system displays two continuous operations with one Mfg each.

3. If you wish to add more operations to the Features tree, select the desired operations in the Object

Viewer and click . The selected operation is displayed in the Features tree with its associated
Mfgs.

Note
• The system only allows you to add operations that possess Mfgs.
• The system ignores duplicate selections.

4. If the projection already exists and you wish to update it, check Update projected Mfgs to overwrite
the current data. If this option is cleared (this is the default setting), the system omits Mfgs that have
been previously projected.
5. If Update projected Mfgs is set, you can check Use last projection parameters to instruct the
system to use the same parameters as used in the previous projection. If Use last projection
parameters is clear (this is the default setting), the system uses the parameters you set in the
Projection Parameters area.

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 Note
You cannot use the Use last projection parameters option if the previous projection was
performed using a version of Process Simulate prior to version 11 — in this case, the system uses
the default parameters.

6. If you check Indicate projection direction in the graphics, the system adds a cone icon (visible from
all viewing angles) to the first location when creating the seam. The cone points in the direction of
the projection.

7. Configure the General Arc Alignment Parameters.

The following table describes these parameters:

Alignment Parameter Description

Travel angle The sideways tilt of the welding torch as seen
from the broadside view. The default value is 0
radians (the torch approaches the seam exactly
on the bisector).

Work angle The angle of approach measured along the

bisector. The default value is 0 radians (the torch
approaches the seam exactly on the bisector).

Spin angle The angle of the torch around its normal

(approach) vector. The default value is 0 radians.

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 Alignment Parameter Description

Seam offset A parallelogram can be defined by the original

projection location and the position of the seam
location after manipulation. The Seam offset is
the length of the diagonal of this parallelogram
that connects the original projection location
and the seam location after manipulation.

Note
The offset is applied before applying the rotations (travel, work and spin angles), therefore it is
maintained as defined regardless of the rotations.

8. If you have customized the alignment parameters for some arc Mfgs, you can check Overwrite arc
specific alignment parameters for projection if you wish to cancel these (and use the default
parameters) without having to reset individually each arc Mfg that you customized.

9. If you wish to add arc Mfgs to the Features tree, click .

The Add Mfg Feature Data dialog box appears.

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 10. Select an Operation with which to associate the additional arc Mfg. This may be the same target
operation as that for arc Mfgs already added to the command or another target operation.
11. Select an Arc Mfg.
12. In the Parts/Faces area, define a parts/faces pair as follows:
• Select Parts to project the Mfg at the intersection of two parts and proceed as follows:
a. Pick a Base part and Side part in the Graphic Viewer or the Object Viewer, or type to enter
their names.
b. You can check Use negative normal for the base and/or side parts.

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 This flips the normal used for calculations and the direction of the locations in the new seam
operation is reversed.

Use negative normal affects the robot approach angle and can be used to improve results.
Parts for which you are using the negative normal are marked with the icon.

or
• From Project on, select Faces to project the Mfg at the intersection of two part faces.
The Add Mfg Feature Data dialog box changes to:

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 Proceed as follows:

a. Click beside the Base in order to select faces.

The Face Selection dialog box appears.

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 b. Select one of the following face selection modes:

◦ Add/Remove - In the Graphic Viewer, click the faces you wish to add. The selected
faces are highlighted in the Graphic Viewer and the Number of current faces counter
is updated. If you wish to unselect a face, click it again. Additionally, you can use the
following icons:

◊ - If you have already selected at least one face, the system automatically selects
a chain of all the faces on the same side or edge as the initially-selected face. You can
fine-tune this list by adding or removing faces.

◊ - Clears the face selection.

◦ Edit Normal - Click each face with a normal you wish to flip.

Note

When working in Edit Normal mode, the cursor changes to .

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 You can also click Flip all Normals to flip the normals of all the selected faces in a
single operation.

c. Click beside the Side and select faces as you did for Base.

Note
The system does not allow selecting the same part for both the Side part and Base part.

13. Click if you wish to highlight the part/face pair in the Graphic Viewer.

All other objects in the Graphic Viewer are dimmed.

14. Click if you wish to exchange the base part/face for the side part and vice versa.
15. In the Alignment area, check one of the following:
• Use general arc alignment parameters for projection - The arc Mfg uses the alignment
parameters you configured in step 7 above. This is the default setting.
• Use specific arc alignment parameters for projection - Specifically configure the alignment
parameters to use for the new arc Mfg (as described in step 7 above). The system adds a node to
the arc Mfg for the specific alignment parameters.

You can copy and paste the alignment parameters node to other arc Mfgs.

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 16. Click OK to confirm the parts/faces for the new arc Mfg. The Add Mfg Feature Data dialog box
closes.

17. If you wish to edit an arc Mfg, double-click the continuous operation or arc Mfg, or click in the
Project Arc Seam dialog box.
The Edit Mfg Feature Data dialog box appears.

• If you selected the continuous operation before opening the Edit Mfg Feature Data dialog box,
and if the selected continuous operation possesses more than one arc Mfg, select an Arc Mfg to
edit.

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 • Do any of the following:
◦ Make the required changes in the Parts/Faces area.

◦ Click if you wish to highlight the part pair in the Graphic Viewer.
All other objects in the Graphic Viewer are dimmed.

◦ Click if you wish to exchange the base part for the side part and vice versa.
◦ If you wish to customize the alignment parameters for the currently edited projection, check Use
specific arc alignment parameters and set the parameters.
If Use general arc alignment parameters remains checked, the system uses the existing
alignment parameters.
18. In Edit Mfg Feature Data, click OK to close the dialog box.
19. To delete a selected continuous operation, Mfg, or alignment parameters from the Project Arc Seam

dialog box, click .

Note
If you remove all the arc Mfgs nested under a continuous operation, the system also removes the
continuous operation.

20. Optionally, use the Copy and Paste buttons to copy and paste parts/faces from one node to
another within the Project Arc Seam dialog box.

Note
It is also possible to copy and paste alignment parameters.

21. Use the and buttons to expand and collapse the Project Arc Seam dialog box hierarchy.

22. If you wish to fine-tune the projection, click to reveal the Projection Parameters area of the
Project Arc Seam dialog box.

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 You can configure the following parameters:

Parameter Description
Maximal Segment The maximum allowed distance between two locations created when
Length projecting continuous Mfgs.
Maximal Tolerance The maximum allowed distance between a location and the curve that
defines the seam geometry.
Optimize locations When set (this is the default), this option optimizes Mfg projection on
creation for arc and condition that all the locations in the source Mfg conform to the Arc
line segments tolerance and Minimal line length you define. The system creates a
projection using two locations for straight lines, three locations for arcs,
and five locations for circles. When this option is off, the system creates a
projection of consecutive locations, requiring a large amount of computer
resources.
After completing the projection, the system sets the motion type of each
location according to the segment detection results for the curve. A
location's motion type is determined by the way the robot approaches the
location. For circular curves, the system sets the last 2 points as CIRC; for
linear curves, the last point is set as LIN. Locations projected by those points
are set with those motion types.
Project on Projects Mfgs on approximated versions of the part. Use this option to save
approximation only computing resources and achieve quick results.

23. Click Project.

The system projects each of the arc Mfgs and creates seam operations nested under the relevant
continuous operations.

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 Additionally, the system updates the R column of the Project Arc Seam dialog box with the
projection status of the Mfg.

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 The following results are possible:
• [Blank] — Not projected.

• — The projection succeeded on exact geometry.

• — The projection succeeded on approximate geometry.

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 • — The projection succeeded on approximate geometry (and failed on exact geometry if
attempted).

• — When the re-projecting of the operation fails, the system retains the locations of the previous
projection. The dialog box marks this operation with "?" the next time it opens.
• — The projection failed (for approximation and for exact geometry if attempted).

If you are not satisfied with the projection results, you can either run Project Arc Seam again and change
some of the parameters or you can launch Torch Alignment to edit the current seam operation.

Arc Continuous Positioning

The Arc Continuous Positioning tool automatically calculates optimal location external axes for
positioners with a single rotational axis and positioners with two perpendicular rotational axes. This is
done to achieve the best welding results by placing horizontal seams parallel to the floor and performing
welding with a downward motion (the torch is located above the seam and its approach vector is vertical).

Note
• The tool is flexible: Any direction can be specified for the alignment of the location normals and any
location vector can be defined as a normal.
• For positioners with two perpendicular rotation axes, an iterative algorithm is used with a fixed
accuracy of 0.08 degrees.

Procedure

1. Select locations and/or robotic operations associated with the same robot. Selecting operations
causes all the selected operations' locations to be selected. The active robot must have one or several
external axes and at least one positioner must be available among these external devices.

2. Choose Process tab → Arc group → Arc Continuous Positioning .

The Arc Continuous Positioning dialog box appears.

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 The selected locations are displayed in the Locations list.
3. Pick more locations as required or remove locations.
4. Select an appropriate Positioner to calculate the seam locations' external axes.
5. Select the Normal vector.This defines which of the location's orientation vectors is to be aligned with
the same vector of the target (by default Z+ is selected).

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 Smart tool position

6. Select the Movement vector. This defines which of the location's orientation vectors is to be tangent
to the seam (by default X+ is selected). Together with the Normal vector, this parameter defines how
to apply the Travel deviation and Work deviation.
7. Pick a frame to set the Target direction. The normal vector of this frame is used as the target
direction (by default the WorldFrame is selected).
8. Set Travel deviation as follows:
• 0 - The location normal vector is aligned with the target direction.
• >0 - The location normal vector is tilted towards the direction of the seam. (Positive rotation
around X+ when Normal vector = Z+ and Movement Vector = X+.)
• <0 - The location normal vector is tilted backwards. (Negative rotation around X+ when Normal
vector = Z+ and Movement Vector = X+.)
9. Set Work deviation as follows:
• 0 - no deviation.
• >0 - There is deviation to the right side when looking from the start to end seam. (Positive rotation
around X+ when Normal vector = Z+ and Movement Vector = X+.)
• <0 - There is deviation to the left side when looking from the start to end seam. (Negative rotation
around X+ when Normal vector = Z+ and Movement Vector = X+.)
10. Click OK. The selected locations' external axes are updated.
11. When the process is complete, click Close.

Smart tool position

You can easily connect a tool to a fastener without the need to designate locations. The tool is correctly
aligned to the position on the fastener in the correct location. This also helps you to confirm that tools and
fasteners are compatible and to verify clearance.

This video demonstrates how to use the TCP Tracker.

Note
Videos are not included in PDF. To access videos, use HTML.

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Smart tool position

• The Compatibility section displays two options:

◦ Check for type—with the Tool field active, pick a tool in the Graphic Viewer or Object Viewer and
then pick a fastener to populate the Fastener field. Click Apply and the system determines whether
the selected tool and fastener are compatible. In the case of compatibility, the system connects the
tool and fastener in the Graphic Viewer. If they are not compatible, an error message displays.
◦ Check for size with tolerance—after selecting a tool and fastener, use this option to check for
compatibility even in the case of small tolerance discrepancies from 1% to 20%.
• The Preview pane displays the selected tool or fastener. You can pan, rotate and zoom the object in this
pane, as you do in the Graphic Viewer.

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 Smart tool position

The Flip button is active for tools that can be used in different orientations, for example, an Allen key.
Clicking Flip rotates the tool to its other orientation.

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Smart tool position

Supported tools and fasteners

Tools

• Manual screwdrivers
• Power, and manual tool bits
• Hex (Allen) key

Fasteners

• Screws
• Bolts
• Nuts

Screw drive types

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 Smart Disassembly

• Slotted
• Phillips
• Pozidriv
• Torx
• Hex (both recess and protruding)
• Frearson (cross)
• Square head (both recess and protruding)

Note
• It is recommended to Attach the power tool to the bit so that they move together, before using Smart
tool position.
• Smart tool position supports exact and approximate geometry.

Smart Disassembly

Automatic Generation of Collision-Free Disassembly Sequences

The Smart Disassembly option enables you to automatically generate collision-free assembly and
disassembly operation sequences. After generating a sequence, you can edit the sequence, create AVI
animations, and create work instructions.

This is useful in order to see all the components that comprise an assembly and also to start an assembly
study. The automatic disassembly process automatically creates an initial assembly/disassembly sequence
which can be modified, as required.

Note
Before running Smart Disassembly, it is recommended to verify that the data is modeled correctly, i.e.,
that the parts do not overlap. The algorithm considers intersecting parts as one part. In order to check
this, you can create collision data sets for parts that might intersect, and correct the data in cases of
overlap.

After using the Smart Disassembly command, you can use the log file created under the user folder
(%temp%\SmartDisassembly.txt) to analyze and debug the output of the algorithm and the generated
sequence of operations.

The typical work flow in creating automatically generated sequences is as follows:

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 Procedure

1. Create the data in Teamcenter or Process Simulate. This includes defining occurrence groups to
designate functional groups of parts and assemblies. For information on creating and editing
occurrence groups, refer to Edit Occurrence Groups in Logical Collections Tree.
2. Load the required operation or process into Process Simulate.
3. Choose Process tab → Assembly group → Smart disassembly.
4. Define global settings and parts constraints for the disassembly process, including the following:
• Dynamic root — Designates the subassembly/occurrence group in the 3D scene for which you are
generating assembly and disassembly sequences.
• Global exploding direction configuration — Determines the directions in which the disassembly
process moves the components of the subassembly/occurrence group.
• Exploding directions for a specific part — Constrains the disassembly direction for a specific part.
• Assembly unit — Defines a subassembly as a unit to disassemble as a single component.
• Part dependencies - Specifies that one part cannot be disassembled before another specified part.
5. Select the sequence type to create (assembly and disassembly).
6. Execute the automatic sequence generation.
7. Edit the generated sequence, if required:
• Delete operations.
• Create new operations.
• Change the sequence generation options and regenerate the sequence using the geometrical
analysis from the previous sequence generation.
8. Create AVI animation files of the assembly or disassembly.

The Smart Disassembly option includes the following commands:

Icon Name Description

Set Enables you to set the dynamic root for the Smart Disassembly option.
Disassembly
Dynamic Root
Define Explode Enables you to define explode directions. These are the directions in which
Directions components are disassembled.
Disassembly Enables you to view disassembly information for a selected subassembly/
Viewer occurrence group.

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 Shortest Path Generation

Icon Name Description

Automatic Enables you to perform smart disassembly on a selected subassembly/
Generation of occurrence group.
Collision-Free
Disassembly
Sequences
Shortest Path Enables you to find the shortest sequence of operations to disassemble a
Generation given subassembly.
Create Enables you to design templates for presenting simulations. You can then
Presentation record the simulations using Movie Recorder.
Mode
Templates (see
Simulation
Tab)
Movie Enables you to create and manage movies. Refer also to Movie Recorder.
Recorder

Shortest Path Generation

The Shortest Path Generation command creates the shortest possible sequence of operations to
disassemble components, enabling access to a selected component. This is useful, for example, if
you want to know which components to disassemble when performing maintenance on a particular
subassembly of an engine.

The Shortest Path Generation command creates a sequence of operations in the Operation Tree. You
can also run a simulation of the sequence.

Procedure

1. Select Shortest Path Generation .

The Shortest Path Generation dialog box opens.

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 The Shortest Path Generation dialog box contains the following fields:

Fields Description
Disassemb Indicates the component you wish to access from the Object Tree or Assembly Tree.
ly Part This component must be located under the dynamic root. Refer to Set Disassembly
Dynamic Root for information on defining the dynamic root.
Generated Indicates the type of the operations that Smart Disassembly generates. A
Operation dropdown list in this field contains the following available types:
Type
• Compound Operation — Creates internal Process Simulate simulative operations
and enables you to save the results in context (refer to Defining Sims In
Context). However, as internal Process Simulate operations are not available in
Teamcenter, you cannot create Teamcenter reports based on this information.
This may be an optimal configuration if you do not use Teamcenter activities in
your organization.
• MEActivity — Creates Teamcenter activities and enables you to save useful
information, for example, simulation times. All this information is available for
Teamcenter reporting, however, it is not saved in context.
• MENCProgram.
If the selected object is a compound operation, this field displays only the
Compound Operation option.
Direction Indicates the directions for which Shortest Path Generation generates operations.
Possible values:
• Assembly (optional)
• Disassembly (required)

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 Fields Description
Distance Indicates the distance to which the disassembly operations move the parts. Possible
values:
• Automatic — Determines the disassembly distance automatically.
• Exact — Enables you to specify a disassembly distance in millimeters.
Default Indicates the duration for each operation in the disassembly.
Operation
Duration

2. Edit the fields described above to configure the details for automatically generating sequences using
Shortest Path Generation.
3. Click Generate to generate the sequences according to the configuration specified in the Shortest
Path Generation dialog box.
The following message appears

4. If you have edited the subassembly/occurrence group since last generating the disassembly
sequences, you should consider beginning a new product analysis before continuing. Do one of
the following:
• Click Yes to generate disassembly sequences.
Process Simulate performs a full product analysis before generating the disassembly sequences.
This is a time-consuming process.
• Click No to generate disassembly sequences using the product analysis from the previous sequence
generation.
This option saves time - use it if you have not changed the geometry or hierarchy since the last
sequence generation.
Shortest Path Generation generates the following:
• A part-to-part geometrical analysis of the occurrence group.
The analysis accounts for the part dimensions and the constraints on each part (enabled explosion
directions, part dependencies, and working assemblies). The analysis data appears in the log file.

Note
In some cases, the analysis considers multiple parts as a single unit if the parts were modeled in
CAD with penetration.

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 ◦ The operations for the specified sequences. The operations appear in the Operation Tree.

Shortest Path Generation creates activity and flow operations for each disassembled component in the
Operation Tree.

Set Disassembly Dynamic Root

The Set Disassembly Dynamic Root command designates the subassembly/occurrence group for which
you are generating assembly and disassembly sequences. It generates operations to disassemble all the
parts below the dynamic root in the Assembly Viewer hierarchy. The Smart Disassembly feature only
generates operations that move the components below the dynamic root. Other objects in the scene are
considered to be static.

Set Disassembly Dynamic Root is enabled only when a subassembly or occurrence group is selected. You
can only define one dynamic root.

Procedure

1. In the Object Viewer select a subassembly/occurrence group.

2. Click Set Disassembly Dynamic Root .The subassembly name appears in bold type in the Object
Viewer to indicate that it is the dynamic root.

Define Explode Directions

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 The Define Explode Directions command enables you to configure the directions in which to disassemble
the components under the dynamic root. Process Simulate saves the explode direction configuration with
the process data so that the process displays the same configuration when you load it again.

Procedure

1. Select Define Explode Directions .

The Explode Directions dialog box opens. Axes appear in the Graphic Viewer, indicating the
disassembly explode directions from the root assembly's configured center of gravity.

The following fields appear in the Explode Directions dialog box:

Field Description
Frame Indicates the location from which the disassembly explode directions are defined.
Standard Indicates the enabled/blocked status of the six standard disassembly explode
Direction directions. The six directions are defined as the two opposite axes for each dimension
s in the frame: +X, -X, +Y, -Y, +Z, and -Z. By default, all basic axes are enabled.

Enabled. In the Graphic Viewer, the axis for this direction appears green.

Blocked. In the Graphic Viewer, the axis for this direction appears red.
Additiona Displays 12 additional directions, each at a 45-degree angle between pairs of
l standard directions.
intermedi
ate Enabled. The Graphic Viewer displays standard and intermediate directions.
direction
s Disabled. The Graphic Viewer displays only standard directions.

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 2. You can specify a frame in the Frame field to change the center point for the disassembly explosion
directions.
3. Activate or deactivate the disassembly explode directions by one of the following methods:
• Select or clear checkboxes in the Standard Directions area.
• Click the axis in the Graphic Viewer.

Note
The Graphic Viewer and the Explode Directions dialog box are synchronized so that enabling and
disabling directions by either method affects the status displayed in both the Explode Directions
dialog box and the Graphic Viewer.

4. Select the Additional intermediate directions field to display 12 additional explode directions.

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 Smart Disassembly

Smart Disassembly

The Smart Disassembly command executes the automatic generation of the disassembly or assembly
sequence. Smart Disassembly is enabled when a dynamic root is defined and any activity or compound
operation is selected.

By default, the Smart Disassembly command attempts to disassemble components along the axes defined
in Define Explode Directions. If this is not possible because another component blocks that path, Process
Simulate attempts to disassemble other components and then returns to the blocked component, whose
path may have been cleared in the meanwhile.

The Smart Disassembly command creates a sequence of operations in the Operation Tree. You can also
run a simulation of the sequence.

Procedure

1. Select Smart Disassembly .

The Smart Disassembly dialog box opens.

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 The Smart Disassembly dialog box contains the following fields:

Fields Description
Disassemb Indicates the currently configured dynamic root. This is a read-only field. Refer to Set
ly Root Disassembly Dynamic Root for information on defining the dynamic root.
Generated Indicates the type of the operations that Smart Disassembly generates. A dropdown
Operation list in this field contains the following available types:
Type
• Compound Operation — Creates internal Process Simulate simulative operations
and enables you to save the results in context (refer to Defining Sims In Context).
However, as internal Process Simulate operations are not available in Teamcenter,
you cannot create Teamcenter reports based on this information. This may be an
optimal configuration if you do not use Teamcenter activities in your organization.
• MEActivity — Creates Teamcenter activities and enables you to save useful
information, for example, simulation times. All this information is available for
Teamcenter reporting, however, it is not saved in context.
• MENCProgram.
If the selected object is a compound operation, this field displays only the Compound
Operation option.
Direction Indicates the directions for which Smart Disassembly generates operation sequences.
Possible values:
• Assembly (optional)
• Disassembly (required — Smart Disassembly always generates this sequence)

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 Fields Description
Distance Indicates the distance to which the disassembly operations move the parts. Possible
values:
• Automatic — Determines the disassembly distance automatically. The distance is
proportional to the size of the part.
• Exact — Enables you to specify a disassembly distance in millimeters.
Default Use the up and down arrows or type a value to indicate the duration for each
Operation operation in the disassembly sequence.
Duration

2. Edit the fields described above to configure the details for automatically generating sequences using
Smart Disassembly.
3. Click Generate to generate the sequences according to the configuration specified in the Smart
Disassembly dialog box.
The following message appears:

4. If you have edited the subassembly/occurrence group since last generating the disassembly
sequences, you should consider beginning a new product analysis before continuing. Do one of
the following:
• Click Yes to generate disassembly sequences.
Process Simulate performs a full product analysis before generating the disassembly sequences.
This is a time-consuming process.
• Click No to generate disassembly sequences using the product analysis from the previous sequence
generation.
This option saves time - use it if you have not changed the geometry or hierarchy since the last
sequence generation.

Smart Disassembly generates the following:

• A part-to-part geometrical analysis of the occurrence group. The analysis accounts for the part
dimensions and the constraints on each part (enabled explosion directions, part dependencies, and
working assemblies). The analysis data appears in the log file.

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 • In some cases, the analysis considers multiple parts as a single unit if the parts were modeled in CAD
with penetration.

• The operations for the specified sequences. The operations appear in the Operation Tree.

Note
• Smart Disassembly creates activity and flow operations for each disassembled component in the
Operation Tree.

• If components are grouped together into a subassembly, Process Simulate disassembles the
subassembly as an integral unit. After disassembling all the components, Process Simulate
disassembles the subassembly.

Continuous Process Generator

The Continuous Process Generator tool enables you to create a continuous operation composed of
nested seam operations (for example, to perform arc welding of two parts) based on a selection of faces.
The tool also:

• Provides support for Arc skip welding (or stitch welding) where the seam operation is composed of
welds separated by spaces (similar to a dashed line).
• Enables you to create a Coverage Pattern operation with fixed intervals for use in coating applications.
• Enables you to create an Adhesive process, where you simply pick points on the surface.

After selecting the faces and the required parameters, the command automatically performs all of the
following:

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 • Previews one or more paths (preview seams) for the Mfgs to be created (and used in the projection
calculations).
• Creates new continuous Mfgs for each seam.
• Sets the Mfg type.
• Assigns the Mfg to the part of the first face.
• Creates a new continuous feature operation or appends seam operations and assigned Mfgs to an
existing continuous feature operation.
• Assigns the continuous Mfgs to the new or existing continuous feature operation.
• Creates new seam operations for each continuous Mfg and nests them under the new or existing
continuous operation with the correct face definitions. The system defines which faces belong to each
seam operation.
• If there is a single robot in the loaded data, or if user has selected a robot in the dialog box, the
command assigns this robot and its mounted tool to the operation.

Note
When running in disconnected mode, you can only create private Mfgs of types previously defined using
the Teamcenter Mapping Configuration Tool while connected to the Teamcenter server, for example,
mapping file definition for the private MFGs types (in MFGCreationDefintion section) should be the same
when working in connected and disconnected.

The Continuous Process Generator tool also enables you to fine-tune the selection, for example: edit the
selection (add/remove faces), change the face extension, merge curves to a single seam, define or change
start/end, skip welds and direction.

Procedure

1. Enables you to project the operation, similar to the way you use the various project commands.

2. Choose Process tab → Continuous group → Continuous Process Generator .

or
Choose Operation tab → Create Operation group → New Operation → Continuous Process

Generator .
or

Choose Home tab → Operation group → Continuous Process Generator .

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 The Continuous Process Generator dialog box appears.

Note
You can either set the Scope of the new continuous operation by pre-selecting a compound
operation before launching the Continuous Process Generator, or by changing the Scope after
opening the dialog box. In the latter case, the new continuous operation is nested under the
selected compound operation, and some of the Operation parameters (for example, the Operation
name) become read-only, as explained below.

3. From the Process dropdown list, select one of the following:

• Arc and proceed to Arc Process.
• Coverage pattern and proceed to Coverage Pattern Process.
• Adhesive and proceed to Adhesive process.

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 Generating a Continuous Arc Process

Generating a Continuous Arc Process

After Continuous Process Generator, set Process to Arc to enable Arc generation mode.

Procedure

1. Select Face sets, as follows:

a. Pick one or more faces in one of the viewers. These are highlighted in dark brown.
b. Click Side set.
c. Pick one or more faces in one of the viewers. These are highlighted in light brown.
The system displays a preview (in blue) of the seams to be created.

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 d. In Face sets, click Base set.

Note
• You cannot define the same face in both the base set and the side set.
• All selected faces must have exact geometry and not approximated geometry representation.

2. The green spot marks the start of the seam and the orange one marks the end. If you do not wish
to use the entire seam between the faces for the new seam operation, drag the green and/or orange
spots to the desired locations.

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 The Start dimension box appears in the Graphic Viewer and indicates the distance of the green spot
from the start of the seam, and the End dimension box indicates the distance of the orange spot from
the end of the seam. These remain active until you click on something else.
It is possible to change the start and end points of a closed contour seam by defining a positive value
for one point and the identical negative value for the other point.
3. In the following example, one face (dark brown) is selected.

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 You can click to select all the faces tangential to the last selected face (the dark brown face in the
above figure).

In the left-hand figure below, Maximum angle between adjacent faces (refer to the Tangent Faces
section on the Continuous) is set to 1° and the system has selected one more tangential face. In
the right-hand figure, the option is set to 6° and the system has selected a number of additional
tangential faces.

4. You can click to cancel selection of all the faces.

5. Proceed to Continuous Process Generator - Finalizing.

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 or
Proceed with any of the following steps to fine-tune your data.
• If the selected faces do not quite touch (there is a small gap between them), you can configure
the Extension distance in the Face Sets area. The system creates the desired continuous operation
between the two non-touching faces as long as the gap is smaller than the Extension distance. In
the following example, the gap (white) between the blue and green faces is 2.22 mm.

Therefore, setting the Extension distance to 1.50 mm does not enable creation of the continuous
operation.

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 However, setting the Extension distance to 2.50 mm does enable creation of the operation, and a
preview line (blue) is displayed.

• You can check Merge all curves in the Face Sets area to create a single Mfg and consequently, a
single seam operation under the new continuous operation. All contiguous curves are merged into
a single curve, but non-contiguous curves remain separate.

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 • You can perform skip welding. First select faces for the new seam operation, define the Merge all
curves option as required, and then proceed as follows:
a. Click Skip Welding.

b. Click the check box on the Skip Welding expander bar to activate this capability.
If you have already set these parameters in a previous session, those values are retained.
Opening the Skip Welding expander without clicking the check box allows you to see the
current settings.
c. In Method, select which parameters are required when defining the skip welds in the new
continuous seam:
◦ Spacing, Number
◦ Length, Number
◦ Length, Spacing
◦ Length, Spacing, Number

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 Note
If you select an option with two parameters, the system calculates an optimal value for the
remaining parameter.

d. Set the following skip welding parameters:

◦ Distance from start - The distance from the start of the seam at which to begin skip
welding.

Note
This parameter enables you to begin skip welding at any point along the selected curve.
This parameter is mandatory and is set to zero by default.

◦ Segment length - The length of each segment in the weld seam.

◦ Spacing - The distance between segments in the weld seam.
◦ Number of segments - The number of segments in the weld seam.
In the following example, the weld segments are shown in blue, the spaces between them in
green, and the direction of the seam is indicated by arrows.

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 Note
If you create a set of parameters that cannot be fulfilled, the system returns an error.

e. If you wish to reverse the direction of the seam operation, click one of its arrows.

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 Note
Before reversing the direction of the seam operation, set all the parameters of the skip
weld, for example, define all the faces, set Merge all curves, etc. This is because any
parameter change resets the seam to its original direction. Therefore, only reverse the seam
direction after you are satisfied with all your seam parameters.

f. If you wish to finalize your changes at this stage, click Apply or OK.

• You can perform Arc Projection on seam operations, as follows:

a. Click Arc Projection.

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 b. Enable projection by clicking Arc Projection in the expander bar. If you have already set
these parameters in a previous session, those values are retained. Opening the Arc Projection
expander without clicking the check box allows you to see the current settings.
c. To adopt the projection parameters of a previously projected seam, click Reference seam
operation and select a projected seam in the Graphics Viewer or the Object Viewer.
d. If you wish to set the projection parameters, use the Maximal segment length, Maximal
tolerance and Optimize location creation parameters as explained in the Projection
Parameters section of the Project Arc Seam.
e. You can click the Preview button to see the location distribution along the seam before
applying it.

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 Generating a Continuous Coverage Pattern Process

Generating a Continuous Coverage Pattern Process

After Launching Continuous Process Generator, set Process to Coverage pattern to enable Coverage
pattern mode.

Perform Geometry Selection, as follows:

Procedure

1. In Geometry selection, click Faces.

2. Pick one or more faces in the Graphic Viewer. These are highlighted in brown.

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 To ease face selection, you can click to select all the faces tangential to the last selected face.

This results in the automatic selection of similar faces:

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 Setting Maximum angle between adjacent faces (refer to the Tangent Faces section in
Continuous tab) to 60° causes the system to select more tangential faces.

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 3. Click Start point and click a frame/location/point on one of the selected parts.This point is marked
with a green spot to mark the start of the initial line.
4. Click End point and click a frame/location/point on one of the selected parts.
This point is marked with an orange spot to mark the end of the initial line. The system also displays a
reference line in blue with an arrow to indicate its direction.

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 5. If you wish to add additional strokes:
a. Set Stroke direction to be either Back and forth (default), or Same direction.
b. Set the Spacing to create the desired space between the lines.
c. Set Strokes before and/or Strokes after to add lines before and/or after the main stroke.

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 In the above example, the proposed pattern starts from the reference line, which is at the very
edge of the selected surface, and follows the dashed line to the second stroke, which is in the
opposite direction, and continues back and forth.
If you wish to change the direction of the pattern, click one of the arrows on the pattern.

You can set Extend line to boundaries to extend the pattern all the way to the edges of the selected
surface.

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 Or, using Same direction in Strokes direction, results in the following pattern:

6. To configure the projection parameters, set Project Continuous Mfg and click Projection
Parameters.

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 If you have already set these parameters in a previous session, those values are retained. Opening
Projection Parameters without clicking the check box allows you to see the current settings.
Proceed as follows:
a. Set Location orientation, to one of the following:
• Tangent zigzag - All the projected locations are oriented in a similar direction to the direction
of the reference stroke, and are tangent to their stroke.

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 It can be seen that the locations' movement vectors are from left to right in all the strokes
irrespective of stroke direction (white arrows, whose direction alternates according to the
stroke). This means that the robot can maintain the same gun orientation right through the
seams.
• Tangent - The projected locations are tangent to their stroke and orientated according to the
stroke direction.

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 It can be seen that in the upper stroke, the direction is from left to right (white arrow) and the
locations' movement vectors (red) are also from left to right, whereas in the second stroke,
the direction is from right to left and the locations' movement vectors are also from right to
left. This means that the gun must rotate at the beginning of each stroke in order to approach
the locations from the correct angle.

Note
For strokes in the same direction, the only valid option is Tangent. Therefore the option is
automatically selected, and you are unable to change it.

b. To adopt the projection parameters of a previously projected seam, click Reference seam
operation and pick a projected seam in the Graphic Viewer or the Object Viewer.
c. To configure Location Distribution along the new operation, set Distribution method to one of
the following:

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 • By distance - creates equally spaced locations along the new operation.

By default, locations are created along the operation, from its beginning till the end. Set

Start offset and End offset if you wish to begin and/or end
creation of locations not at the beginning and/or end of the operation. Set Traverse distance

to configure the distance between locations.

Note
◦ If this option is applied to a curve, the distance between neighboring locations is not
measured according to the Cartesian distance, but according to the length of the curve
segments between them.

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 ◦ Generally, since the curve length will not be evenly divided by the Traverse distance you
assign, the length between every two points is not exactly equal to the traverse distance,
as the system imposes equal spacing between all points.

• By tolerance - creates locations at significant points along the new operation.

Set Maximal segment length , Maximal tolerance , Arc

tolerance , and Minimal line length as explained in Project

Continuous Mfgs.
• By quantity - creates a specified number of locations along the new operation. Use this
option if you wish to limit the number of locations on the new operation.

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 By default, locations are created along the operation, from its beginning till the end. Set

Start offset and End offset if you wish to begin and/or end
creation of locations not at the beginning and/or end of the operation. Set the exact Number

of locations to create.

Proceed to Continuous Process Generator - Finalizing.

Generating an Adhesive Process

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 After Launching Continuous Process Generator, set Process to Adhesive. In this mode you can create a
continuous path by picking points on the surface. You can also use this mode for other process types,
while the MFG type should reflect the relevant type in use.

Perform Geometry Selection, as follows:

Procedure

1. In Geometry Selection, click Faces.

2. Pick one or more faces in the Graphic Viewer. These are highlighted in brown.

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 To ease up face selection, you can click to select all the faces tangential to the last selected face

Note
Tangential is only available for exact geometry faces.

This leads to automatic selection of similar faces:

3. Click on the Points control to put it in focus. Then pick on the area selected in the previous step, and
start accumulating points sequentially to describe the adhesive curve.

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 The current point (last point picked) is colored in green, and the previous ones are colored in orange.
You can select a point in the list with the mouse or use the up and down arrows—it is highlighted in
green and is set to be the current. As a result, its values populate the point control at the bottom. You
can use the up down arrows or the edit fields to make precise changes to the point's cartesian values,
or alternatively you can move the focus to the point control itself to completely replace the point, by
picking on the surface.

The above image illustrates that the focus moved to the pick control, and a different point was picked
in the Graphic Viewer, to replace the old one.

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 Once you are satisfied with the selected points, continue to the Projection Parameters section.
4. To configure Location Distribution along the new operation, set the Distribution method to one of
the following:
a. Where Picked - creates location for each point picked. The locations are created tangent to
the curve. This is the default option for the adhesive process, however there are also other
distribution methods, which use the selected points just for the purpose of curve creation.

Select Apply to create a location for each point.

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 b. By Distance: Locations are equaly spaced along the curve.
By default, locations are created along the operation, from its beginning till the end. Set Start

offset and End offset if you wish to begin and/or end creation of locations not

at the beginning and/or end of the operation. Set Traverse distance to configure the
distance between locations.

Note

• If this option is applied to a curve, the distance between neighboring locations is not
measured according to the Cartesian distance, but according to the length of the curve
segments between them.
• Generally, since the curve length is not evenly divided by the traverse distance you assign,
the length between every two points is not exactly equal to the traverse distance, as the
system imposes equal spacing between all points.
When you select Apply with the following parameters, the locations are equaly spaced along
the curve, with the start and end offset you set.

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 c. By tolerance - creates locations at significant points along the new operation.

Set Maximal segment length , Maximal tolerance , Arc tolerance , and

Minimal line length , as explained in Project Continuous Mfgs.

d. By quantity - creates a specified number of locations along the new operation. Use this option if
you wish to limit the number of locations on the new operation.

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Continuous Process Generator - Finalizing

By default, locations are created along the operation, from its beginning till the end. Set Start

offset and End offset if you wish to begin and/or end creation of locations

not at the beginning and/or end of the operation. Set the exact Number of locations to
create.

Note
You can apply different projection parameters, creating a new operation each time, and the values
selected in the dialog are not cleared. This make it convenient and easy to consider different
alternatives.

Continuous Process Generator - Finalizing

After selecting faces/geometry, the Ready message replaces the Faces are missing message, the OK and
Apply buttons are enabled, and the system calculates and displays the Number of seams to be created at
the bottom of the window.

Procedure

1. Click OK to run the command, create the new continuous operation, and exit the Continuous
Process Generator dialog box.The new seams and Mfgs are created in such a way as to ensure the
shortest travel distance for robot execution. Or: Click Apply to accept your changes and continue
working in the Continuous Process Generator dialog box.
2. You can also define the following parameters:

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 • Click Operation and define the following parameters:

◦ Operation name – Enables you to modify the default operation name.

◦ Robot – If there is a single robot in the loaded data, the command assigns this robot to the
operation. If there is more than one robot, you can assign a robot. If this parameter remains
empty, the system makes no assignment after the operation is created.
◦ Tool – If a tool is mounted on the selected robot, the command assigns this tool to the
operation. You can modify this parameter if you wish to use a different tool.
◦ Scope – By default, the new continuous operation is nested under the root node in the Object
Viewer. You can modify this.
◦ Description – You can compose a meaningful description for the new continuous operation.

Note
If you selected a compound operation before launching the Continuous Process Generator, the
new continuous operation is nested under the selected compound operation. The Operation
name, Robot, and Tool parameters cannot be configured because they derive from the scope
operation.

• Click Mfg Feature and define the following parameters:

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Project Continuous Mfg

◦ Configure the Mfg type.

◦ For public MFGs define the Mfg container (part).
3. Click OK to run the command and create the new continuous operation.

Project Continuous Mfg

The Project Continuous Mfg command enables you to project a set of continuous Mfgs onto the parts
to which they are assigned or on to specific faces of the parts to which the Mfgs are assigned. Projecting
the Mfgs generates a robotic seam operation and a seam location for each Mfg. The projected seam
location approximates the shape of the part in accordance with the maximal segment length and maximal
tolerance parameters.

If, however, the source CAD data has changed and you now have an updated mfg, performing Project
Continuous Mfg on the updated mfg overwrites information stored on the continuous operation locations
(such as approach vectors, OLP commands, and attributes). To retain this information, copy the continuous
operation, and re-project the original operation (you must set Use last projection parameters because
you want identical projection results). Access Robotic operation merge, where the Target Operation
is the re-projected operation and the Source is the original operation. After performing matching
(automatic or manual), executing the suggested matches copies the locations, together with all their
stored information (approach vectors, OLP commands, attributes, etc.) from the original operation to the
new one.

Before executing Project Continuous Mfg, you specify a continuous robot compound operation. The seam
operations that the command generates appear in the Object Viewer as children of the specified robot
operation.

Procedure

1. Select continuous robotic compound operations.

2. Choose Process tab → Continuous group → Project Continuous Mfg .

The Project Continuous Mfgs dialog box appears.

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 The Features list displays a tree with the selected robotic operations . Nested under each
operation are the operations' Mfgs . If you wish to project an Mfg on to particular part faces,

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 you can nest part faces under the Mfg. If you omit to nest any part faces, the system defaults to
projecting Mfgs on to the parts listed in the Parts area.
For each Mfg, the R (Result) column indicates the projection status of the Mfg. The following may
appear in the R column:
• [Blank] — Not projected.

• — The projection succeeded on exact geometry.

• — The projection succeeded on approximate geometry.

• — The projection succeeded on approximate geometry (and failed on exact geometry if

attempted).

• — When the re-projecting of the operation fails, the system retains the locations of the previous
projection. The dialog box marks this operation with "?" the next time it opens.
• — The projection failed (for approximation and for exact geometry if attempted).

3. Optionally, click or to expand/collapse the Features tree one further level of nodes. For

example, if at least one face node is currently expanded, , collapses the tree to the upper level of
Mfg nodes.
4. If you wish to add more operations to the Features tree, select the desired operations in the Object

Viewer and click .

The selected operations are displayed in the Features tree with its associated Mfgs.

Note
• The system only allows you to add operations that possess Mfgs.
• The system ignores duplicate selections.

5. You can add Mfgs to the Features tree as follows:

a. Select continuous Mfgs in the Mfg Viewer or select continuous operations with associated Mfgs
in the Object Viewer.

Note
• You can only add Mfgs that are assigned to continuous robotic operations - it is not possible
to add other continuous Mfgs.
• If the Mfg is already listed in the Features tree, it is not duplicated.

b. Click to add the Mfgs to the Features tree.

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 Note
• The Mfg is automatically nested in the Features tree under the operation to which it is
assigned. If the operation does not exist in the Features tree, the system adds the required
node.
• If you added the Mfg by selecting an operation in the Object Viewer, the operation is
added to the Features tree with a nested Mfg.
• If you add an Mfg that is associated with more than a single operation, all the relevant
operations are added and the Mfg is nested under each one.

6. If you wish to project an Mfg on to a specified part face, select faces, as follows:

Note
The system projects Mfgs for which you select faces on to the selected faces, and Mfgs for which
you have omitted to select faces on to the parts in the Parts list.

a. Click the Mfg in the Features tree under which you wish to nest faces.

b. Click .
The Face Selection dialog box appears.

c. Select one of the following face selection modes:

• Add/Remove - In the Graphic Viewer, click the faces you wish to add. The selected
faces are highlighted in the Graphic Viewer and the Number of current faces counter is
updated. If you wish to unselect a face, click it again. Additionally, you can use the following
icons:

◦ - If you have already selected at least one face, the system automatically selects
a chain of all the faces on the same side or edge as the initially-selected face. You can
fine-tune this list by adding or removing faces.

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 ◦ - Clears the face selection.

• Edit Normal - Click each face whose normal you wish to flip.

Note

When working in Edit Normal mode, the cursor changes to .

You can also click Flip all Normals to flip the normals of all the selected faces in a single
operation.
d. Click OK to accept the face selection.
The faces are nested under the Mfg in the Features tree.

Note
• Selecting faces in the Features tree highlights them in the Graphic Viewer.
• You cannot select faces of blanked parts.

7. You can select faces and use the Copy and Paste buttons to facilitate further face selection
under other Mfgs.
8. Configure the following options:
• If the projection already exists and you wish to update it, check Update projected Mfgs to
overwrite the current data. If this option is clear (this is the default setting), the system omits arc
Mfgs that have been previously projected.
• If Update projected Mfgs is set, you can check Use last projection parameters to instruct the
system to use the same parameters as used in the previous projection. If Use last projection

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 parameters is clear (this is the default setting), the system uses the parameters you set in the
Projection Parameters area.

Note
You cannot use the Use last projection parameters option if the previous projection was
performed using a version of Process Simulate prior to version 11 — in this case, the system uses
the default parameters.

• If you check Indicate projection direction in the graphics, the system adds a cone icon (visible
from all viewing angles) to the first location when creating the seam. The cone points in the
direction of the projection.

9. In the Parts area, select one of the following options:

Note
• The selected operations' Mfgs automatically appear in the Features list. The Mfgs' associated
parts are listed in the Parts list.
• If you have nested faces under the Mfg, the system will ignore your settings in the Parts area.

• Project each Mfg on the parts assigned to it - The system automatically projects each Mfg on to
its assigned parts.
• Project Mfgs on to a customized list of parts - The system projects the Mfgs on to the parts listed
in the Parts list. If you added additional Mfgs to the Features tree, select one of the following from

the dropdown list and click to add the associated parts to the Parts list.
◦ Leading part only - Populates the Parts list with the leading part of each of the Mfgs in
Features tree.
◦ Leading and assigned parts - Populates the Parts list with the leading and assigned parts of
each of the Mfgs in the Features tree.

To clear all the parts in the Parts list, click .

10. If you wish to fine-tune the projection, click to reveal the Projection Parameters area of the
Project Continuous Mfgs dialog box.

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 11. Select one of the following:
• Tolerance Based Spacing - The system places the projected locations according to the geometry
of the target Mfg. Configure the following parameters:
◦ Maximal Segment Length - The maximum allowed distance between two locations created
when projecting continuous Mfgs.
◦ Maximal Tolerance - The maximum allowed distance between a location and the curve that
defines the seam geometry.
◦ Optimize locations creation for arc and line segments - When set (this is the default), this
option optimizes Mfg projection on condition that all the locations in the source Mfg conform
to the Arc tolerance and Minimal line length you define. The system creates a projection using
two locations for straight lines, three locations for arcs, and five locations for circles. When this
option is off, the system creates a projection of consecutive locations, requiring a large amount
of computer resources.
After completing the projection, the system sets the motion type of each location according to
the segment detection results for the curve. A location's motion type is determined by the way
the robot approaches the location. For circular curves, the system sets the last 2 points as CIRC;

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 for linear curves, the last point is set as LIN. Locations projected by those points are set with
those motion types.
• Equal Distance Spacing - The system places the projected locations according to the following
parameters:
◦ Start Offset - The offset distance from the beginning of the Mfg to the first projected location.
◦ End Offset - The offset distance from the last projected location to the end of the Mfg.
◦ Traverse distance - The distance between projected locations.

Note
◦ If this option is applied to a curve, the distance between neighboring locations is not
measured according to the Cartesian distance, but according to the length of the curve
segments between them.
◦ Generally, since the curve length will not be evenly divided by the Traverse distance you
assign, the length between every two points is not exactly equal to the traverse distance, as
the system imposes equal spacing between all points.

The following figure compares the results of Tolerance Based Spacing and Equal Distance Spacing:

12. You can also configure the following:

• Project on approximation only - Projects Mfgs on approximated versions of the part. Use this
option to save computing resources and achieve quick results.
• Keep Position on curve - If the Mfg is not on the same plane as the part on which you are
projecting it, setting this option ensures that the projected locations remain on the Mfg. Clearing
the option causes the system to project the locations on the part.

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 13. To delete a selected continuous operation, Mfg, or face from the Features tree, click .

Note
If you remove all the arc Mfgs nested under a continuous operation, the system also removes the
continuous operation.

14. Click to project the Mfgs.

For each Mfg in the Features list, this step generates the following:
• Continuous feature operation — The operations appear in the Object Viewer as children of the
robotic compound operation. The order of the Mfgs in the Features tree determines the order in
which the continuous feature operations appear in the Object Viewer under the robotic compound
operation. The order of the seam operations in the Object Viewer determines the order of their
execution.

• Seam location — The seam locations appear on the associated part in the Graphic Viewer.

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 After projecting the Mfgs, a appears for each successfully projected Mfg in the Features tree.

15. Click to close the Project Continuous Mfgs dialog box.

Replicate Seam Operation

Welding often requires repetitive work in which process planners invest time defining one element and
optimizing it. Using the replicate commands, it is easy to duplicate the process for similar elements
welded at other locations. You can replicate continuous robotic operations, arc seams, continuous seams
and via locations. In each work session, you can either replicate arc seam operations and via locations,
or continuous operations and via locations. In each case, the dialog is slightly different and changes
dynamically. If you select arc and seam operations together, the command is disabled.

Replicate an arc seam operation

Procedure

1. After creating a Project arc seam operation for a component, select one or more arc seam operations
and/or via locations in the Graphic Viewer or Object Viewer.

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 Note
The command can only replicate either arc seam operations or continuous operations. If you wish
to replicate both types, run a separate session for each one.

2. Choose Process tab → Continuous group → Replicate Arc Seam Operation .

The Replicate Arc Seam Operation dialog box appears.

Note
• Objects to replicate is a read-only counter.
• You can change your selection by choosing another operation in the Graphic Viewer or Object
Viewer. If you select a continuous operation that is not an arc seam operation, the dialog box
changes to the Replicate Continuous Seam Operation dialog box, see To replicate a continuous
seam operation. However, if you have already selected more than one arc seam operation,
selecting a continuous operation has no effect (the new selection is ignored).

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 Your selection is shown in the Graphic Viewer.

3. In the Transformation area, the From frame field shows the frame of the source seam. Click To frame
and select the desired frame for the new seam.
4. Set the Mfg container (Teamcenter item containing weld points) in the Target area. In the Graphic
Viewer, select a component on which to project the Mfg. This component acts as the "side wall"
when projecting the Mfg. The command creates new Mfgs and a new Seam operation with its
locations.

Note
Location attributes are replicated as well.

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 5. In the Target area, select Same as source to replicate the new seam under the same operation as
the source seam, or New operation to replicate the new seam under a new operation. The new
operation is named Continuous_robotic_operation_<counter>.
6. To assign the new seam to a part, select one of the following in the Assignment list:
• Same parts or faces – the new seam operation, its locations and its new Mfg are assigned to the
same part as the source seam operation.
• Auto face matching – the system attempts to identify the same faces as in the target part. If
successful, the system updates the new arc with these faces. If not successful, the new arc has the
same faces as the original arc seam.

Note
It is also possible to replicate the seam on the part to which the source seam is assigned. The
following figure shows an example when this is desirable.

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 • No parts or faces – no assignment is made.
7. You can use the original arc seam operation or replicated ones to replicate the Seam operation to
additional components.

The following example shows a case where both seams and via locations are replicated in a single session.

Replicate a continuous seam operation

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 Procedure

1. Select one or more continuous seam operations and/or via locations in the Graphic Viewer or Object
Viewer.

Note
The command can only replicate either continuous operations or arc seam operations. If you wish
to replicate both, run a separate session for each one.

2. Choose Process tab → Continuous group → Replicate Continuous Seam Operation .

The Replicate Continuous Seam Operation dialog box appears.

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 Note
• Objects to replicate is a read-only counter.

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 • You can change your selection by selecting another operation in the Graphic Viewer or Object
Viewer. If you select an arc seam operation, the dialog box changes to the Replicate Arc Seam
Operation dialog box; see To replicate an arc seam operation. However, if you have already
selected more than one continuous seam operation, selecting an arc seam operation has no
effect (the new selection is ignored).

Your selection is shown in the Graphic Viewer.

3. In the Transformation area, the From frame field shows the frame of the source seam. Click To frame
and select the desired frame for the new seam.
4. Set the Mfg container (Teamcenter item containing weld points) in the Target area. In the Graphic
Viewer, select a component on which to project the Mfg. This component acts as the "side wall"
when projecting the Mfg. The command creates new Mfgs and a new Seam operation with its
locations.

Note
Location attributes are replicated as well.

5. In the Target area, select Same as source to replicate the new seam under the same operation as
the source seam, or New operation to replicate the new seam under a new operation. The new
operation is named Continuous_robotic_operation_<counter>.
6. To assign the new seam to a part, select one of the following in the Assignment list:

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 • Same parts or faces - the new seam operation, its locations and its new Mfg are assigned to the
same part as the source seam operation.
• Automatic face matching - the system attempts to identify the same default projection faces from
the source part and tries to match them to the new location. If successful, the system updates the
default projection of the new continuous seam with these faces.
• No parts or faces - no assignment is made. If you wish to use the new seam as a source seam for
replication, the Replicate Continuous Seam Operation command prompts you to make a manual
assignment before launching.
• Selected parts - The new seam operation, its locations and its new Mfg are assigned to the part
you select.
The Graphic Viewer displays the new frame in red and a yellow arrow representing the replication
vector starting at the source frame and ending at the new target frame.

7. Set the number of desired Replications.

In the following example, Replications is set to 3; the source seam (red) is replicated three times
(black).

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 8. Click Replicate. Process Simulate creates the new seam operation(s); these are displayed in the
Graphic Viewer and Object Viewer.

The new seam operation is identical to the source and its name is that of the source with a numerical
enumerator suffix. All the locations of the source seam operation are replicated in the new seam
operation with the same names. For each location, all configured parameters (robotic configuration,
OLP commands, comments, continuous Mfgs etc.) are preserved.

Note
Both Private and Public continuous MFG types are supported.

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 Create Continuous Mfgs from Curve

9. After replication, the Replicate Continuous Seam Operation dialog box remains open, the source
definitions remain unchanged, and the number of replications is reset to 1. You can repeat the
replication using the original arc seam operation or replicated arc seam operations (on condition they
are assigned to parts) as the source to replicate the seam operation to additional components.

Create Continuous Mfgs from Curve

The Create Continuous Mfgs from Curve command enables you to create continuous Mfgs from any
curve in the current project. You can either use an existing curve, create a new curve, or import a curve
from an external CAD program. After creating a continuous Mfgs, you can Project Continuous Mfg on to
parts.

Note
When running in disconnected mode, you can only create private Mfgs of types previously defined using
the Teamcenter Mapping Configuration Tool while connected to the Teamcenter server, e.g., mapping
file definition for the private MFGs types (in MFGCreationDefintion section) should be the same when
working in connected and disconnected.

Procedure

1. Set Modeling Scope.

2. Choose Process tab → Continuous group → Create Continuous Mfgs from Curves .
The Create Continuous Mfgs from Curves dialog box appears.

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 If you selected curves, circles, arcs, or polylines in the Graphic Viewer or Object Viewer prior to
launching Create Continuous Mfgs from Curve, these are loaded in the Source curve list on the
right side of the Create Continuous Mfgs From Curves dialog box.
The default name for each Mfg to be created is displayed in the Mfg name list on the left side of the
dialog box.

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 3. To add source curves, click the bottom row of the Source curve list and select circles, arcs, or
polylines from the Graphic Viewer or Object Viewer.
4. To edit an Mfg name, double-click its entry in the Mfg name list.
5. Select the Mfg type to be created, unless another type was previously selected.
You can select Mfg types that inherit from Continuous Mfgs.

Note
Make sure to save in order to generate the COJT.

6. To select a part to which you wish to assign the new Mfg, click Assign to part and pick the part in the
Graphic Viewer or Object Viewer. If you leave this field empty, the system does not assign the Mfg to
any part.
7. Select a Teamcenter Mfg container (Teamcenter item containing weld points) in which to store the
Mfg. If the selected Mfg type is configured as a private Process Simulate object in Teamcenter (not
exposed in Teamcenter and not part of the product data), this field is not displayed. For information
on public and private Mfg types, refer to Storing Weld Points and Mfgs in Teamcenter in the
Process Simulate on Teamcenter Administration documentation.
8. In Operation, select a continuous operation or Teamcenter process to which to assign the new Mfg. If
the selected Mfg type is configured as a private Process Simulate object in Teamcenter (not exposed
in Teamcenter and not part of the product data), you can only select a continuous operation.
9. Click OK.

Note

Mfgs with local changes are marked with the following overlay:

Split Seam Operation

The Split Seam Operation command enables you to split a robotic seam operation into two separate
operations. If, for example, there are reachability or accessibility issues for an operation's assigned robot,
you can split the problematic operation into two separate operations and assign each operation to a
different robot. You can only split operations containing three or more locations.

Procedure

1. Choose Process tab → Continuous group → Split Seam Operation .

The Split Seam Operation dialog box appears.

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 2. In Source Seam Operation, click Operation and, from the Object Viewer, pick the source operation
you wish to split. If you selected an operation before launching Split Seam Operation, it is loaded in
the Operation field.
3. The Split location dropdown list contains all the locations comprising the selected operation other
than the first and last. Click the arrow to the right in the right of the dropdown list and select the
location at which you wish to split the operation. This location becomes the last location in the source
operation (which is truncated) and the first in the new operation.
4. In the New Seam Operation area, Name displays the name of the new operation. By default, this is
the name of the source operation with a numerical suffix.
5. In Robotic operation, select the robotic operation under which to nest the new operation.By default,
this is the same as the robotic operation of the source operation.
6. Click OK.
The following figure shows the result of splitting the Circle5_mfg_op operation at its ls2 location:

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 Note
If the selected robotic operation is not the same one as the operation it was split from, and the Mfg is
not assigned to the robotic operation, the system adds it to the Continuous Mfgs list.

Update Continuous Mfgs

The Update Continuous Mfgs command enables you to update existing continuous Mfgs. For example, if
your project contains a large number of identical Mfgs, you can create a new curve and adapt the Mfg to
be based on the new curve. All the instances of that Mfg are updated accordingly.

Procedure

1. In the Mfg Viewer or in the Graphic Viewer, select the continuous Mfgs you wish to update.

2. Choose Process tab → Continuous group → Update Continuous Mfgs .

The Update Continuous Mfgs dialog box appears.

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 Note
If you have configured Teamcenter to store new continuous Mfgs (or Mfgs) in a private
configuration, the Update Continuous Mfgs dialog box appears as follows.

3. Click Set source curve and pick a new curve in the Graphic Viewer or Object Viewer as the source
for the selected Mfgs.

Note
If the Mfg has been updated before you can select Current Curve and perform the next step
without selecting a new curve.

4. Select one of the following options to save the data:

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 Emphasize Continuous Mfgs

• Update local Mfg only - Saves the Mfg internally (local to the loaded data scope only). You can
send the same data again from Teamcenter to Process Simulate but the data is not published in
Teamcenter. Use this option when updating Mfgs that did not originate in Process Simulate.
• Update local Mfg and add changes as optional dataset attached to process - This option is the
same as Update local Mfg only but also adds the data as an optional dataset and nests it under
the selected process.
• Update changes to revision - Updates the Teamcenter Mfg revision (when you run Teamcenter
Update).

Note

Private Mfgs are marked with the following overlay:

For Mfgs not originally created in Process Simulate, the Update changes to revision option is
disabled.

5. Check Restore geometry of Item Revision if you wish to reload the curve stored on the continuous
Mfgs objects in Teamcenter. The local changes are discarded.

Note
This option is only available if the Mfg curve has local changes.

6. Click OK to save the changes in the scene details.

Emphasize Continuous Mfgs

The Emphasize Continuous Mfgs command enables you to highlight Mfgs for easy viewing in the Graphic
Viewer.

Procedure

1. Choose Process tab → Continuous group → Emphasize Continuous Mfgs .

2. Select Mfgs in the Graphic Viewer or Mfg Viewer.

3. Use the following tools to emphasize the selected Mfgs:

• Click and set the thickness of the Mfgs.

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 • Click and set the color of the Mfgs.

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 Indicate Seam Start

• Click to undo your changes.

4. Click again to return the display to its original state.

Indicate Seam Start

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 The Indicate Seam Start command enables you to set a start point and direction for continuous Mfgs
created from a closed curve. Use this command to control the order of locations in a seam when running
Project Continuous Mfg.

Procedure

1. Choose Process tab → Continuous group → Indicate Seam Start .

The Indicate Seam Start dialog box appears.

2. Click Mfg feature and pick the continuous Mfgs you wish to configure from the Graphic Viewer
or Mfg Viewer. If you selected an Mfg before launching Indicate Seam Start, it is loaded in Mfg
feature.
3. Click Start point in the Indicate Seam Start dialog box. In the Graphic Viewer, pick the point on the
Mfg you wish to be the start point. A small red cross is inserted in the Graphic Viewer and Start point
displays the coordinates of the selected point.
4. Click Via direction point in the Indicate Seam Start dialog box.
In the Graphic Viewer, click a point next to the start point to indicate the direction you wish to select.
For a closed curve, the projection direction is from the start point towards the via direction point. A
small blue cross is inserted in the Graphic Viewer and Via direction point displays the coordinates of
the selected point.

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 Note
• Picking of points on the Mfg must be performed in the Graphic Viewer; you cannot configure values
directly in the Indicate Seam Start dialog box.
• For open Mfgs, the start point and direction are set at the time of curve creation.

Note
If a point was previously set (for start or via), it is displayed.

Insert Location Inside a Seam

The Insert Location Inside a Seam option is a path editing tool that enables you to add seam locations
to seam operations. It is enabled when the selection is empty or when a seam location is selected. This
command is useful for fine-tuning paths and debugging.

Note
If the selected seam operation is an ARC weld operation, all calculations are based on the ARC projection
parameters of the seam operation.

Procedure

1. Choose Process tab → Continuous group → Insert Location Inside a Seam .

The Insert Location Inside a Seam dialog box appears.

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 Note
When the Insert Location Inside a Seam dialog box is displayed, a yellow marker appears at the
new location in the Graphic Viewer. As you continue to define the new location, the yellow marker
assumes a new position.

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 You can use the Copy parameters option to copy Robotic or Robotic + OLP Commands parameters
from the current location to another location. Click Apply or OK to paste to the parameters to the
additional location. You can use the forward and back buttons to navigate to subsequent
locations. The copied parameters are saved in the registry. The Path Editor Motion Type and Zone
columns reflect the updated parameters.
2. If you preselected a location before launching the command, it is displayed in Relative location. If
you did not, click in Relative location and select a location from one of the viewers. The relative
location is displayed in red in the Graphic Viewer.
3. In Sequence, select Before to insert the new location before the relative location you have defined,
After to insert it after the relative location (this is the default setting), or Automatic to place the
new location automatically in the correct position on the path with no connection to the relative
location.The Graphic Viewer highlights the location before or after the relative location in blue. This
location is known as the before/after marker.
4. In the Position area, set the following parameters:

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 • In the Define new location position by area, define the position of the new location in one of the
following ways:
◦ Pick on seam - Enables you to click the position of the new location in the Graphic Viewer. You
can only select a seam Mfg feature whose relative location is associated with the robotic seam
operation on which it was projected.
◦ Distance from relative location - Enables you to define the position of the new location based
on its distance from the relative location, as measured along the continuous Mfg. The order of
the new location is based on the Sequence you selected and is adjacent to the relative location.
◦ Percentage of distance between two relative and neighboring locations - The system inserts
the new location between the relative location you have defined and the before/after marker
you selected in Add new location (this is the default setting). When inserting the new location
between two consecutive locations, enter a value from 0.0 to 100.0 in Percentage of distance
to define the position of the location between the relative location and the before/after marker.

Note
The final position of the new location may not be completely accurate because the system
approximates the distance between the relative location and the before/after marker to a
straight line or because the system projects the new location and positions it on the seam.

• If you had previously applied an offset to the seam, the seam and its curve are at different
positions. When adding a new location, the new location (yellow) is inserted on the seam curve
not on the seam.

The result of adding the new location is:

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 However, setting Apply translation and rotation of reference location causes the new location
to be inserted with the translation and rotation of the reference location (red).

The projected location is always on the seam curve.

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Import CLS files from CAM

• You can fine-tune the position and orientation of the new location in the Graphic Viewer by
dragging the new location to the desired position and orientation.

Note
◦ The New location position area of the Insert Location Inside a Seam dialog box displays the
exact values for the position and orientation of the new location. You cannot edit these from
within the dialog box.
◦ The position and orientation of the new location are limited by the settings in Continuous tab
and the Weld tab. Therefore, some positions or orientations you choose may not be valid.

5. If the seam is exactly on top of the Mfg feature, it hides the MFG. In this case, it is not possible to pick
on the Mfg. Click to hide the seam. Press the icon again to reveal the seam.
6. Click OK to create the new location.

Import CLS files from CAM

Use CLS Upload to import CLS files from CAM software such as NX CAM and ProE and to create continuous
operations or Seam Mfgs.

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 Procedure

1. Select a robot.

2. Choose Process tab → Continuous group → CLS Upload .

The CLS Upload dialog box appears.

3. Set the parameters as described in CLS Upload Parameters.

The optimization process removes as many seam locations as possible while retaining the following
seam locations:

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 • Any skipped location that is less than the Maximal distance from the previous uploaded location.
• Any skipped location that forms an arc with less than Chord tolerance chord with the previous and
next uploaded locations.

Note
The first and last locations of a seam are always uploaded.

4. Click Upload.
You are prompted to select one or several CLS files. The application creates the following:
• A compound operation per file.
• A continuous operation per path.

Note
◦ Paths are delimited with the TOOL PATH keyword. If this is absent, a single path is created with
the full file content, and is named Milling.
◦ The created seam paths are colored yellow.

• A seam operation per stroke.

• Via locations between strokes.

Note
If the PAINT/COLOR instruction is absent, the application assumes all points are inside a single
stroke.

In addition, the application does the following:

• Offsets the following GOTO coordinates from the MSYS optional tool path position: MSYS OriX,
OriY, OriZ, XDirX, XDirY, XDirZ, YDirX, YDirY, YDirZ.
• Reads speed data from CLS files. The following formats are supported:
◦ FEDRAT/MMPM, <speed>
◦ FEDRAT/<speed>, MMPM
• Uses Option/Continuous settings to determine the normal and movement vectors.

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 CLS Upload Parameters

CLS Upload Parameters

The following table describes the CLS upload parameters used when importing CLS files from CAM
systems.

Section Parameter Description

Robot Displays the selected robot, to which the operations belong.
Part container The part to which the uploaded operations and Mfgs are to be
attached (optional parameter).
Reframe The reference position and orientation of the CLS path coordinates.
This parameter is optional when a part container is selected. If this
parameter is not set, the Primary Part self origin is used as the
reference position.
General Process type The desired continuous process for the created seam operations or
seam Mfgs (for example, GLUE, ARC, PAINT). If this parameter is
not set, a default seam Mfg type is used. Each OLP controller then
implements these operations as their default process (ARC for ARC
controllers such as Reis-Robstar or Igm-Ins, PAINT for PAINT controllers
such as Duerr-Ecotalk, or GLUE for generic controllers such as Abb-
Rapid) (optional parameter).
Creation mode Indicates whether to create seam operations with dummy seam Mfg
geometries, or seam Mfgs only with accurate geometry.
Seam color Id The Paint/Color instruction in the CLS file that distinguishes between
seam locations (forming a stroke) and robotic via locations (linking
strokes together). For example:

• CLS file:
◦ PAINT/COLOR,169
RAPID
GOTO/162.7691,-439.4304,1981.6802
PAINT/COLOR,47
GOTO/15.8455,-351.7258,1878.1360
PAINT/COLOR,31
GOTO/
20.2933,-335.1229,1885.8230,0.7350744,-0.4352168,0.51985
76
GOTO/
24.7910,-318.4612,1893.3467,0.7354511,-0.4318683,0.52211
24

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CLS Upload Parameters

Section Parameter Description

◦ If "Seam color Id" is set to "31," then the first two GOTO
instructions create robotic via locations, while the last two GOTO
instructions create a seam operation with two seam locations
inside.
Circle direction Defines whether the normal vector in the CIRCLE instruction (in the CLS
file) defines CW (Clockwise) or CCW (Counterclockwise) rotation:

• Select CW if the CLS file originates in NX.

• Select CCW if the CLS file originates in ProE.
Create via Indicates whether to create via locations between the seam
locations operations.
Display Indicates whether to display locations in the created operations.
locations
Orientation Normal • Away from part - The normal vector (IJK) defined in the CLS file is
Direction used as the normal axis direction.
• Toward the part - The opposite of the normal vector (IJK) defined in
the CLS file is used as the normal axis direction.
Orientation This parameter and Orientation reframe are used to define how the
Mode direction of the movement axis is computed. Set one of the following:

• Tangent - The movement axis is tangent to the trajectory.

• Fixed - The movement axis is aligned to the same axis as the
Orientation reframe.
• Toward point - The movement axis points to the center of the
Orientation reframe.
• Tangent Zigzag - The movement axis is flipped (rotated by 180
degrees around the normal axis) on every second stroke compared
to the normal tangent mode.

Note
If the computed movement axis is parallel to the normal axis, then
an arbitrary movement axis direction is taken.

Orientation Any locatable object. If the chosen reference is not a frame, then its
Reframe self origin is used as the reference frame (this field is enabled only for
certain Orientation modes).
Optimization Filter locations Indicates whether to filter seam locations based on Maximal distance
and Chord tolerance.

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 Attach Seam Locations to Part

Section Parameter Description

Maximal Indicates the maximum permitted distance between two consecutive
distance locations.
Chord Indicates the maximum permitted chord deviation.
tolerance

Attach Seam Locations to Part

The Attach Seam Locations to Part tool enables you to attach seam locations to a selected part.

Procedure

1. Select locations or operations. Selecting operations causes all the selected operations' locations to be
selected.

2. Choose Process tab → Continuous group → Attach Seam Locations to Part .

The Attach Locations to Part dialog box appears.

3. Pick a compound part to which to attach the selected locations.

4. Click OK.
The selected seam locations are attached to the selected part.

Note
Via locations are ignored.

Create Seam From Vias

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 The Create Seam From Vias tool enables you to convert robotic via locations to seam locations nested
under seam operations.

Procedure

1. Select robotic via locations nested under a continuous operation.

2. Choose Process tab → Continuous group → Create Seam From Vias .

The Create Seam Operation dialog box appears.

3. Select one of the following:

• A continuous process (for example, glue, arc, or paint). This determines the dummy Seam Mfg type
to be created.
• An existing Seam Mfg. In this case, no dummy Mfg is created, rather the created seam operations
are linked to the selected Mfg.
4. Click OK. The selected via locations are converted to seam locations and nested under the relevant
seam operations.

Paint during simulation

The coverage application enables you to configure continuous operations for painting parts or
components. The following is a typical workflow for performing coverage:

Procedure

1. Create a continuous operation. For example, create linear or circular motion using the Continuous
Program Generator command. Joint motion is not suitable for continuous processes.

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 Note
• The paint path should not have sharp turns. It is preferable to use circular motion when the
radius of any turn in the path is no smaller than half the diameter of the paint brush.
• The linear speed should be moderate and paint coverage should overlap each time interval.
If the speed is high and the time interval large (>0.1 seconds), paint coverage will not be
continuous and the brush strokes will not overlap as expected.

2. Add OLP commands, for example: ChangeBrush, OpenPaintGun, and ClosePaintGun. For information
on adding OLP commands to operations, refer to Teach Pendant.

Note
• It is recommended to open/close/change the brush away from the painting mesh for optimal
results.
• Set the brush using the ChangeBrush OLP command before invoking the OpenPaintGun OLP
command.
• During painting, do not open and close or change the brush at a single location. Perform only
one activity at each location for smooth painting and optimal results.

3. Mount a paint gun on the assigned robot (set Tool Type to Paint gun in the Tool Definition dialog
box).

Note
• The Z-axis of the paint gun tip frame should point towards the surface normal. This is essential in
order to visualize coverage correctly.
• The brush's Origin Frame connects to the tip of the paint gun and defines the correct direction of
painting.

4. Define a robot brush (tool attached to the robot that applies paint to the manufactured object) using
the Paint Brush Editor dialog box, as described below.
5. Create a 3D mesh of points on the target part using Create Mesh, as described below.
6. Activate Coverage During Simulation by toggling the command.
7. Run the continuous paint operation using the Path Editor or Sequence Editor.

Note
• It is recommended to use a time interval of 0.01 seconds in the Path Editor or Sequence Editor
for smooth painting and optimal results.
• When working in disconnected mode, the straight linear trajectory depends on the planning
ability of the mop/rrs mechanism. This can be adjusted by adjusting parameters in the
motionparamers.e file but it may incur performance degradation.
• If the paint brush is not defined correctly (for example, the ChangeBrush command refers to an
undefined brush name), the brush appears as a purple cone.

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 Whenever the brush touches a point on the mesh, paint is applied. It is also possible to apply a number of
paint layers, to configure the size and shape of the paint brush for various tasks, and to set various display
options for visualizing the paint process during simulation.

Typically, you will run the continuous paint operation without applying paint while building the operation.
After you have finished building the operation, you can try to optimize performance to prevent unwanted
coverage. When this is done, you can activate Process tab → Paint and Coverage group → Paint During

Simulation to enable coverage or thickness while painting.

Note
• It is recommended to blank all the non-relevant entities prior to creating the mesh (consider using
the Load the Entity Level Representation command). This improves performance during both mesh
creation and simulation.
• It is recommended to clear the Coverage option (in the Settings dialog box) to enable better visibility
of selected entities.
• Coverage on concave surfaces is calculated accurately, but might not be displayed accurately in the
Graphic Viewer.

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 To create a mesh:

To create a mesh:

Procedure

1. Select the part or component you wish to paint.

2. Choose Process tab → Paint and Coverage group → Create Mesh .

The Create Mesh dialog box appears and the selected part populates the Parts list.

3. The Mesh column indicates if a mesh already exists for the part. Creating a mesh again for this part
overwrites the previous mesh.
4. If you wish to create a mesh for more parts, click the Parts list and pick additional parts.
5. In the Tessellation Tolerances area, set the following parameters (refer also to the diagram below):
• Distance—The maximum distance allowed between adjacent vertices of the mesh.
• Deviation—Only relevant for parts with XTBRep exact geometry. This sets the maximum allowed
divergence of the approximate geometry from the exact geometry. For a curve, this is the deviation
of the line segment from the geometric curve. For a surface, this is the deviation of a triangular
facet from the exact surface.
• Angle—Only relevant for parts with XTBRep exact geometry. This sets the maximum angle allowed
between adjacent approximation items – line segments in the case of a curve, and facets in the
case of a surface.

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 Note
This diagram employs a curve to illustrate the parameters but the same is true for surfaces.

6. Click Preview to view the mesh.

or OK to create the mesh and close the Create Mesh dialog box.

Note
• The mesh does not appear in the Object Viewer.
• It may take the system a significant amount of time to create/preview the mesh and save studies that
include meshes. The mesh may expand the study's size significantly.
• You cannot delete the mesh of a part. However, the mesh is removed from the study when you delete
the part. It is overwritten when creating a mesh for the part.

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 To configure paint coverage settings:

To configure paint coverage settings:

• Ensure that the paint fan is in contact with the surface of the part being painted.

• The PaintGraph.csv set up file (Tecnomatix<version>\eMPower\Paint) controls the paint distribution of a

brush.

Procedure

1. Choose Process tab → Paint and Coverage group → Paint and Coverage Settings .
The Paint and Coverage Settings dialog box appears.

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 2. For simulations with objects that are hidden by other objects and when using a long paint brush fan
(which is desirable for covering uneven surfaces), it is possible that coverage will also be applied to
the mesh of the hidden/lower surface, even though it is "hidden" by the top object.To prevent this,
check Ignore hidden surfaces.
3. Configure the following Display parameters as desired:
• Meshes—Highlights the meshes (while the Paint/Coverage Settings dialog box is open).
• Coverage—Displays the paint coverage, if already calculated. Repeating the simulation of the
operation adds to the coverage.

Note
Clear this option to improve visibility of selected entities.

• Brush—Displays a ghost paint brush during simulation.

4. The Color Scale displays the colors used to denote the different accumulated paint layers during the
simulation. You can click the pull down arrow to select a different scale.
You can click any box and reset its color.

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 The following example shows accumulated paint layers.

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To configure paint thickness settings:

5. If you wish to remove the accumulated coverage, for example if there are too many layers, click
Delete coverage. This command is also available from Process tab → Paint and Coverage group →
Delete Coverage.

To configure paint thickness settings:

• Ensure that the paint fan is in contact with the surface of the part being painted.

• The accumulated thickness value is based on a graph for a test plate.

• The system uses the following Paint thickness setup files:
◦ ThicknessScale.csv—Contains the available scales to determine the thickness display in the Graphic
Viewer.
◦ PaintGraph.csv—Contains paint graphs for the selected brushes.

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 To configure paint thickness settings:

◊ Each type of brush has its own graph, where the bell curve represents the accumulated paint
thickness as a function of the distance from the gun TCPF. Each graph is recorded at a specific
distance from the surface and a given robot speed.
◊ The brushes specified in this file are simulated using the legacy (default) paint thickness formula
that matches a bell brush. To use a spray brush, or customize the thickness formula, use the
PaintGraphsExt.csv file.
◦ PaintGraphsExt.csv—Contains definitions for brush instances of user-defined brush types. You can
modify this file by defining the graph table representing the curve of paint thickness for a particular
paint brush, at a given distance and velocity. It is possible to define additional input parameters
and constants in addition to the original input, and to customize the formula used for the thickness
calculation for each brush.
◦ PaintFormulas.txt—Enables you to customize the thickness equation or the offset of a specific paint
brush type defined in PaintGraphExt.csv.

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 Procedure

1. Choose Process tab → Paint and Coverage group → Paint and Coverage Settings .
The Paint and Coverage Settings dialog box appears.

2. For simulations with objects that are hidden by other objects and when using a long paint brush fan
(which is desirable for covering uneven surfaces), it is possible that coverage will also be applied to
the mesh of the hidden/lower surface, even though it is "hidden" by the top object.To prevent this,
check Ignore hidden surfaces.
3. Configure the following Display parameters as desired:
• Meshes—Highlights the meshes (while the Paint/Coverage Settings dialog box is open).

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 • Coverage—Displays the paint coverage, if already calculated. Repeating the simulation of the
operation adds to the coverage.

Note
Clear this option to improve visibility of selected entities.

• Brush—Displays a ghost paint brush during simulation.

4. The Color Scale displays the colors used to denote the different accumulated paint layers during the
simulation. You can click the pull down arrow to select a different scale.
You can click any box and reset its color.

The following example shows accumulated paint thickness.

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To create and edit paint brushes:

5. If you wish to remove the accumulated coverage, for example if there are too many layers, click
Delete coverage. This command is also available from Process tab → Paint and Coverage group →
Delete Coverage.

To create and edit paint brushes:

Procedure

1. After selecting a robot (presumably with a mounted paint gun, though not obligatory), choose

Process tab → Paint and Coverage group → Brush Editor .

The Paint Brush Editor appears.

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 To create and edit paint brushes:

2. To add a new brush, click Create New Brush (on the Paint Brush Editor toolbar).
The Create Brush dialog box appears.

a. Enter a Brush Name or number.

b. Pick a Solid to represent the paint jet. If necessary, create a new resource with a custom shape
to use as your solid.
c. Set the Origin Frame on the selected solid. This is the frame on the solid (part of the same
resource) that connects to the paint gun's Tip Frame.
d. Click OK to save the new paint brush.

3. If you need to remove a paint brush, select it and click Delete Brush (on the Paint Brush Editor
toolbar).

4. To edit a brush, click Edit Brush .The Edit Brush dialog box appears. This is similar to the Add
Brush dialog box but is populated with the parameters of the selected brush. Edit the parameters as
desired and click OK.

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Create Paint Trigger

5. When using the brush for thickness simulation, the brush name acts as an ID number for accessing
the matching paint graph and thickness formula. If those cannot be found, the brush name is colored
in red to indicate a problem. PaintLoader.log in the temp directory (as defined in the TxDoctor)
provides a list of supported paint formulas.
For example, using the default paint thickness files available in the setup, the following list of paint
brushes is available.
• Function LegacyBell Loaded
• Function Bell Loaded
• Function Spray Loaded
• Function Spray with Offset Loaded
• Function Spray with Offset Ext Loaded

Note
To run thickness simulation, your brush name should match one of the above functions. For more
information on customizing the paint function, and creating and editing default paint functions,
refer to Paint Thickness.

6. Click Close to exit the Paint Brush Editor.

Create Paint Trigger

The Create Paint Trigger command enables you to create a trigger which specifies where a Paint gun
(refer to Tool Definition) begins or ends its painting operation.

Note
Only seam locations or via locations forming part of a continuous operation can act as parent locations
for paint triggers.

Procedure

1. Select a parent location. The new paint trigger will be inserted either at this location or between this
location and the next one (or previous one, depending on the specific robot controller).

2. Choose Process tab → Paint and Coverage group → Create Paint Trigger .
A cone manipulator is displayed on the parent location in the Graphic Viewer; it points in the
direction of the next location in the path. The Create Paint Trigger dialog box appears with the name
of the parent location.

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 3. In Name, type a name for the new paint trigger.By default, the name is <Parent location>_tr<index>.
4. In Type, select one of the following:
• Open Paint Gun—When the paint gun reaches the trigger, it opens and painting begins. This is the
default setting.
• Close Paint Gun—When the paint gun reaches the trigger, it closes and painting ends.
• Change Brush—When the paint gun reaches the trigger, the system mounts the brush listed in
Brush name instead of the current one.
5. Optionally, type a Brush name.
6. Set the Position and Orientation for the new paint trigger.Distance from parent location measures
and displays the distance of the new paint trigger from its parent location. This is a read-only field.
7. Click OK.

The system creates the paint trigger and displays it in the Graphic Viewer. The following color convention
is used:

• Green—Open Paint Gun

• Red—Close Paint Gun
• Blue—Change paint brush

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 The following figure shows an example which describes painting of the front hood of a car. The paint jet is
shown in pink. The Change Brush blue cone trigger is not depicted in this figure, since it is not needed to
change the brush for this scenario.

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 Edit Paint Trigger

Note
• Triggers do not participate in collision detection.
• Triggers are non-resizable objects.

Edit Paint Trigger

The Edit Paint Trigger command enables you to edit existing paint triggers. For example, you can select a
different parent location for the paint trigger or edit its name. For information on creating paint triggers,
refer to Create Paint Trigger. The command is enabled when you select any paint trigger.

Procedure

1. Select the paint trigger you wish to edit.

2. Choose Process tab → Paint and Coverage group → Edit Paint Trigger .
A cone manipulator is displayed on the paint trigger in the Object Viewer; it points in the direction of
the next location in the path. The Edit Paint Trigger dialog box appears with the name of the parent
location.

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 3. Edit any of the following:
a. Select a different Parent location.
b. Edit the paint trigger Name.
Type is read-only. If you wish to change the paint trigger type, delete the current paint trigger
and create a new one.
c. Edit the Brush name.
d. Adjust the Position and Orientation for the paint trigger.
Distance from parent location measures and displays the distance of the paint trigger from its
parent location. This is a read-only field.
4. Click OK.

The system links the paint trigger to the new parent location, updates all the paint trigger information, and
displays the updated paint trigger in the Object Viewer.

Paint Thickness

At each calculation interval, Process Simulate checks which grid points lie under the paint fan. When
considering a single grid point, that point is painted in multiple consecutive calculation intervals.

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 Paint Thickness

Process Simulate performs the following calculations:

• Process Simulate calculates the paint thickness as if the entire stroke was performed with the current
momentary velocity, distance, angles, etc.
• The weighted paint thickness on the grid point is calculated by averaging the thickness values measured
during this stroke.
• If this grid point is painted again in different strokes, the same calculation is applied and the result is
added to the paint thickness already on the grid point from previous strokes.

Customizing the paint thickness formula

You can improve paint thickness accuracy by adjusting the paint thickness formula. Thickness values
are calculated by an internal, hard-coded formula. This formula may either be multiplied by an external
function or replaced by another formula; these formulas must be specified per paint brush type in a file
named PaintGraphsExt.csv or PaintFormulas.txt.

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PaintGraphsExt.CSV

When thickness simulation is executed, the paint formula matching the selected paint gun is used. The
brush name acts as an ID number and must match the name of a brush instance defined in these files. If no
match is found, the brush is colored red in the brush editor.

PaintGraphsExt.CSV

This file contains definitions for brush instances of user-defined brush types. You can modify this file by
defining the graph table representing the curve of paint thickness for a particular paint brush, at a given
distance and velocity. It is possible to define additional input parameters and constants in addition to the
original input, and to customize the formula used for the thickness calculation for each brush.

• Additional customization of external functions, or more elaborate formulas and expressions can be
specified in PaintFormulas.txt. Expressions defined there, can also be used in the Thickness Equation
or offset_func expressions in this file.
• You can view the loading paint brushes log at <temp folder>\PaintLoader.log. This log gives details of
all brushes that were successfully loaded and indicates syntax errors to help in debugging.
• After applying changes to PaintGraphsExt.CSV, make sure it is loaded in Process Simulate by accessing
Paint and Coverage Settings and clicking Reload files.

Syntax and Rules

• Type—Represents the type of the paint brush. Each type has its own thickness equation and offset
function.
• ThicknessEquation—The paint function formula per type.
• XOffset—Describes how the shape of the paint fan changes according to the distance from the top of
the paint gun.
• Name—The name of the instance of the brush type. There can be many instances of the same type that
share the same formulas, but differ in the content of their table.
• ConstParams—Constant parameters.
◦ You must define d0 and v0 (the distance and velocity at which the measurements were taken).
◦ You can define major_axis and minor_axis (needed for spray type calculation).
◦ You can add any constant with the format <constName>=<value>.
• Table—X is the sample x and bt the paint thickness value at this point. The user can add additional
columns with values, if required.

The following example creates a brush named Bell with added optional user defined parameters and
constants. The expression used matches the default bell brush calculation (except for the use of the
parameters and constants used as an example). The default thickness equation is bt * (d0 / d) * (v0 / v)

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 PaintFormulas.TXT

* cfi. The XOffset takes into account the relative distance. It is only necessary to multiply by X (this is not
automatically included in the code, but left to the user).

Type:BellType
ThicknessEquation:bt * (d0 / d) * (v0 / v) * cfi * MyConst * MyParam1
XOffset:x* (d0/d)

Name:Bell
ConstParams:d0=200,v0=500,MyConst=1
Table:x,bt,MyParam1, MyParam2, MyParam3
-100,0,1,1,1
-80,5,1,1,1
-60,10,1,1,1
…
40,15,1,1,1
60,10,1,1,1
80,5,1,1,1
100,0,1,1,1

PaintFormulas.TXT

This file enables you to customize the thickness equation or the offset of a specific paint brush type defined
in PaintGraphsExt.csv

Syntax and Rules

• Helper functions—Functions internal to this file, or to the PaintGraphExt.csv file.

Expr: <unique name>
<expression with arithmetic calculation based on supported parameters>
• External functions—External functions that extend a brush type
External: <unique name>
<expression with arithmetic calculation based on supported parameters>
the expression must include the name of the type it extends

Parameters that can be used in the expressions:

• x—The calculated grid point used for Bell graph expressions. For Spray painting, use x_spray.
• x_spray—The calculated grid point for spray scenarios (takes into account the major and minor axes,
which must be defined in PaintGraphsExt.csv).
• d—The momentary distance from the perpendicular of the gun nozzle to the calculated grid point.
• d_2—The momentary distance from the gun nozzle to the calculated grid point.
• d0—The nominal distance of the tests as specified in the paint graph.

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PaintFormulas.TXT

• v—The momentary speed at the time interval.

• cfi—The Cosine value of phi, the angle between the paint gun tip frame (PGTF) Z-axis and the normal to
the surface at the calculated grid point.
• cfi_2—The Cosine value of phi_2, the angle between the d_2 vector and the normal to the surface at
the calculated grid point.

• cos_alpha—The cosine value of the alpha angle. The following diagram illustrates the alpha angle
between the projection of the painting direction vector on the paint gun tip frame (PGTF) X-Y plane and
the PGTF X-axis.

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 PaintFormulas.TXT

• x_pos—The distance between the grid point and the minor axis.
• offset0—The offset from the middle of the fan towards the minor axis
• offset90—The offset from the middle of the fan towards the major axis.

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PaintFormulas.TXT

• rot_effect—The effect of fan rotation on path width, given by:

cos_alpha + ((1 - cos_alpha) *(minor_axis / major_axis))
• ga—The angle between the PGTF Z-axis and the ground (can be used for gravity effects).
• beta—The angle between the gun movement vector and the center of the gun axis.
• gamma—The angle between the robot movement and the intersection (line) of the plane.
• minor_axis—The length of the minor axis of the spray fan ellipse as specified in the graph.
• major_axis—The length of the major axis of the spray fan ellipse as specified in the graph.
• bt—The basic paint thickness, extracted from the distribution graph.

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 PaintFormulas.TXT

• The following example defines a brush named BellExt that multiplies the existing bell function result
with CosAlpha

Expr:sq_cos_alpha
(cos_alpha * cos_alpha)
External
(BellType*sq_cos_alpha)

File modification guidelines:

• You can perform mathematical calculations using basic operands, and use .NET syntax of Math libraries
such as Math.Cos(). See Mathematical Functions for other supported mathematical functions.
• Boolean expressions must be wrapped with Convert.ToDouble().
• You can view the loading paint brushes log at <TxDoctor>\PaintLoader.log. This log gives details of all
brushes that were successfully loaded and indicates syntax errors to help in debugging.
• After applying changes to this file, make sure it is loaded in Process Simulate by accessing Paint and
Coverage Settings and clicking Reload files.

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Macros to Simulate Continuous Processes

Macros to Simulate Continuous Processes

The following Continuous Macro commands are available from the Process tab → Water Jet group:

• Create Continuous Macro

• Edit Continuous Macro
• Display Continuous Macros

Process Simulate can simulate continuous processes that move along a given curve. For example, in water
jet cutting, a water jet gun is mounted on a robot and cuts the specified part along a defined curve (the
macro path). Running the continuous operation in the Path Editor triggers the water jet On, the robot
follows the defined curve, and at the end of the path, the water jet is toggled to Off.

Note
• Macro projection visualization is supported only over parts with exact geometry.
• Continuous macros can be created under any via location located under a continuous feature
operation.
• Continuous macros require customized xml information with macro configuration. This is nested in
the \Tecnomatix\eMPower\Robotics\OLP\[Robot Vendor]\MotionConfiguration folder.
• If the selected operation has an assigned robot with a controller that supports motion types, the
motion type is set automatically and displayed in Process Type in the Path Editor. Otherwise, to
simulate macros, you must select the correct Process Type in the Path Editor (the available values
are obtained from the customized xml file). Failing this, the system interprets the macro location as a
regular via location.
• Currently, continuous macros are only supported by ABB robots running custom controllers. For more
information on customized controllers, see Controller Settings.

Create Macro

Procedure

1. In the Object Viewer, select a location nested under a continuous operation, and choose Process tab

→ Water Jet group → Create Macro .

The Create Macro dialog appears.

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 Location is populated with the name of the selected location. If you wish to associate the macro with
another location, select a different location, run Create Macro again, and create a different macro.
2. Click in the Part field and pick a part on which the continuous macro operates.

3. Click Placement Manipulator if you wish to adjust the position of the macro.
The Graphic Viewer displays the following:
• The part on which the macro operates.
• The location with which the macro is associated.
• The macro path. This is the path along which the robot moves the tool (for example, water nozzle)
when running the macro. The path is located above the part.
• The cut preview. This is the cut made in the part when the macro is executed.

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 4. Click Flip location on Z axis if you wish to invert the location in the Z direction.

After flipping the location, the Z-axis points upwards:

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 5. In the Macro area, set the following parameters:
• Select one of the following shapes: Rectangle, circle, or slot. When creating new macros, the No
Macro option is not active.

Note
The macro shape buttons show a green dot that represents the position of the macro path
relative to the selected Location.

• The size of the macro path. This depends on the shape of the macro path, as follows:
◦ Rectangle - Set the Length and Width.
◦ Circle - Set the Radius.
◦ Slot - Set the Length and Radius.
• Show Preview on part is cleared by default. Set this option to display the cut preview. The macro
cut preview is displayed on the part in the Graphic Viewer.

◦ Click Flip location on Z-axis if you wish to invert the preview in the Z direction.

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 This flips the preview along the Z-axis.

◦ If no preview is available, the system displays an exclamation mark symbol adjacent to Show
Preview on part.

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 Edit Macro

Hover over the symbol to display a tooltip describing the reason, for example, the part is not
selected or does not contain exact geometry.
◦ If Show preview on part is set, Show preview as cut through is also set by default. When
cleared, the preview is displayed only on the part faces facing the macro. When set, the preview
also shows the way the part will be cut on all the affected part faces.

6. Click Orient View Point if you wish to view the part from the macro's point-of-view. Double-click this
button to lock the view: When you move the macro location with the Placement Manipulator, the
view remains locked and all the other objects move.
7. Click OK to save the macro. The new macro can be viewed in the Object Viewer and is marked with
one of the following icons: for a rectangular macro, for a circular macro, or for a slot macro.

Edit Macro

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 Procedure

1. In the Object Viewer, select a continuous macro.orChoose Process tab → Water Jet group →
Display Macros to display all the continuous macros in the Graphic Viewer and pick a macro.

2. Choose Process tab → Water Jet group → Edit Macro .

The Edit Macro dialog box appears and the Graphic Viewer displays the selected macro.

Location is populated with the name of the location with which the macro is associated. If you wish
to use another location, create a different macro.
3. The Part field is populated with the name of the part on which the macro operates. You can change
this by picking another part.

4. Click Placement Manipulator if you wish to adjust the position of the macro.

5. Click Flip location on Z-axis if you wish to invert the location in the Z direction.

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 After flipping the location, the Z-axis points upwards:

6. To delete the current macro, click No Macro in the Macro area. When you click OK, the macro is
deleted.All the other buttons in the Macro area are inactive (apart from one that shows the shape
of the current macro). Depending on the shape of the macro path, the Macro area also displays
parameters enabling you to modify the size of the macro path.
7. Show Preview on part is set by default. The macro cut preview is displayed on the part in the Graphic
Viewer. Set this option to display the cut preview.

8. Click Flip location on Z-axis if you wish to invert the preview in the Z direction.

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 This flips the preview along the Z-axis.

9. If no preview is available, the system displays an exclamation mark symbol adjacent to Show Preview
on part.

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 Display Macros

Hover over the symbol to display a tooltip describing the reason, for example, the part is not selected
or does not contain exact geometry.
10. If Show preview on part is set, Show preview as cut through is also set by default. When cleared,
the preview is displayed only on the part faces facing the macro. When set, the preview also shows
the way the part will be cut on all the affected part faces.

11. Click Orient View Point if you wish to view the part from the macro's point-of-view. Double-click this
button to lock the view: When you move the macro location with the Placement Manipulator, the
view remains locked and all the other objects move.
12. Click OK to update the macro.

Display Macros

To display all the continuous macros in the selection, choose Process tab → Water Jet group → Display
Macros . Click the icon again to hide the macros you just revealed.

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 Logic Behavior

12. Control
Logic Behavior

SCL Editor

Access SCL Editor

Structured Control Language (SCL) is a high-level textual programming language supported by the IEC
61131-3 standard for Programmable Logic Controllers (PLCs). The Tecnomatix SCL implementation is
based on the Siemens TIA Portal version of SCL with modifications. The major difference is that in the
Tecnomatix Process Simulate SCL Editor, after you write your code, you execute it in real time without first
compiling it. This enables you to simulate the behavior of hardware at a functional level and is particularly
useful for virtual commissioning where the hardware is replaced by a virtual twin. For information on how
to drive conveyors during simulation using the SCL Editor, refer to Drive conveyor with SCL Editor.

When running the SCL Editor, all the scripts in the vault (<Installation
folder>\eMPower\bin\Scripting\SCL\Vault) are loaded. However, when playing a simulation, only those
scripts required for the simulation are loaded. This is known as Lazy-Loading and is done for improved
performance. When composing scripts in SCL files, the following rules must be followed, or you may
receive a missing function or missing data type message.

• Only write one block (function, UDT, or function block) in a given SCL file.
• Name the SCL file after the block it contains.
• Save the SCL file directly in the SCL vault or nest it in a folder in the SCL vault.

You can run multiple instances of the SCL Editor.

Procedure

1. Select the study root node in the Object Viewer.

2. Choose Control tab → Resource group → SCL Editor to launch the SCL Editor.

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A-Cyclic communication with PLCSIM Advanced using SCL

You can create an external connection to PLCSIM Advanced in order to simulate hardware devices.
Communication is based on signal exchange where Process Simulate and PLCSIM Advanced are
synchronized. Alternatively, communication can be performed by data exchange. In this case, there is
no synchronization and communication is a-synchronous. The size of the data buffer is limited to 4k which
is sufficient for communicating with many types of devices, for example bar-code readers, RFID readers,
etc. (but not for data-intensive devices such as imaging systems). If the PLC attempts to exchange a data
buffer larger than this, the relevant SCL function reports an overflow.

The SCL Editor provides the following standard functions for implementing communication:

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 A-Cyclic communication with PLCSIM Advanced using SCL

READ_RECORD_PENDING

This function returns True if the PLC has initiated an asynchronous reading of a data record, otherwise, it
returns False.

If True, the size of the data record is returned in the RCSIZE parameter.

READ_RECORD_PENDING(

[in] CN:STRING, // External connection name

[in] HWID:UDINT, // Hardware ID

[in] RCID:UDINT, // Record ID

[out] RCSIZE:UDINT) // Record size in bytes

BOOL; // true if a read record pending

READ_RECORD_DONE

This function completes the asynchronous reading of a data record. The contents of the RCDATA buffer are
sent to the PLC.

READ_RECORD_DONE(

[in] CN:STRING, // External connection name

[in] HWID:UDINT, // Hardware ID

[in] RCID:UDINT, // Record ID

[in/out] RCDATA:ARRAY[0..4095] of BYTE, // Data buffer

[in] RCSIZE:UDINT, // Record size in bytes

[in] SCODE:UDINT) // Status code

VOID;

WRITE_RECORD_PENDING

This function returns True if the PLC has initiated an asynchronous writing of a data record, otherwise, it
returns False.

If True, the data record is returned in the RCDATA parameter and its size in RCSIZE.

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A-Cyclic communication with PLCSIM Advanced using SCL

WRITE_RECORD_PENDING(

[in] CN:STRING, // External connection name

[in] HWID:UDINT, // Hardware ID

[in] RCID:UDINT, // Record ID

[out] RCDATA:ARRAY[0..4095] of BYTES // Data buffer

[out] RCSIZE:UDINT) // Record size in bytes

in bytes

BOOL; // true if a write record pending

WRITE_RECORD_DONE

This function completes the asynchronous writing of a data record. The contents of the RCDATA buffer are
handled by the application.

WRITE_RECORD_DONE(

[in] CN:STRING, // External connection name

[in] HWID:UDINT, // Hardware ID

[in] RCID:UDINT, // Record ID

[in] RCSIZE:UDINT, // Record size in bytes

[in] SCODE:UDINT) // Status code

VOID;

Click ASync to download an implementation of a-synchronous communication using these functions.

The following flow chart describes the a-synchronous communication process:

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 Write SCL block

Write SCL block

You can define one Function Block (FB) per resource. Create variables in the FB using the data types you
defined for the study, and write the functional code. The SCL Editor provides you with auto-complete
functionality to assist in writing the code.

Procedure

1. Select a resource in the Object Viewer.

Note
You can edit resources but you cannot create them in the SCL Editor.

2. Set modeling scope for the resource.

3. Choose Control tab → Resource group → SCL Editor to launch the SCL Editor.

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 4. Define Input, Output, and InOut variables in the variable table in the top portion of the SCL Editor
window, as follows:
a. Click Input (for example). A row is created for the new variable.

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 Note
To delete a line, select it and press Delete from the keyboard.

b. Type a Name for the input variable.

c. Select a Type for the input variable.

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 Tip
Custom UDTs that you defined are listed inside double quotation marks, while standard types
are listed without these.

Note
• The object model allows you to extend the language with custom FBs and user-defined
types. For more information see the Tecnomatix.NET.chm manual.
• Arrays of primitive and user-defined types are not supported in the dialog box, but they are
supported at the system level.

d. Click the Connected Signal cell and select a signal to connect to the variable from the Signal
Viewer.
The SCL Editor only accepts signals of the type you just set for the variable.
e. Optionally, set a Default value for the variable.

Note
If you set both a Connected Signal and a Default value, the value derived from the signal
prevails. As the resource is in modeling scope, the default value is stored as part of the
prototype. If, however, the resource is not in modeling scope, it is stored in the study as part
of the current instance. This means that if you are editing a resource variable with a defined
default value, you can overwrite this before opening the resource for modeling.

f. Enter a Comment if required. This is saved as part of the prototype.

g. When you declare a variable, the default type is BOOL.

5. You can click to hide or reveal the table.

6. Define Var and Var_Temp variables in the same way as inputs, but without configuring a Connected
Signal.

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 SCL operators

Note
Static are static variables whose values are preserved between simulation cycles, whereas the
value of Temp variables is not preserved.

7. Define Constants as required.

8. You can Collapse (hide) and Expand (reveal) the declared variables in the table.
9. In the main window (under the variables table), write the code needed to implement the desired
function.You can press <Ctrl> + <space> to open a context-sensitive list of editing options, for

example:

10. Click Save to save the FB in the COJT file of the relevant component in the resource prototype.

SCL operators

The system supports the following operators.

Category Symbol Name Precedence

Assignment := Assignment 11
Arithmetic ** Power 2
+ Unary plus 3
- Unary minus 3
* Multiplication 4
/ Division 4
MOD Modulo function 4
+ Addition 5
- Subtraction 5
Comparison < Less than 6

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Execute SCL code

Category Symbol Name Precedence

> Greater than 6
<= Less than or equal to 6
>= Greater than or equal to 6
= Equal to 7
<> Not equal to 7
Logical NOT Negation 3
AND And 8
XOR Exclusive or 9
OR Or 10
Parentheses () Parentheses 1

Execute SCL code

• Click Execute to validate and run the code.

Process Simulate executes all the FBs (up to one for each resource) in the study.
If the FBs execute successfully, a success message is displayed.

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 SCL Debugging

The SCL Editor is synchronized with all the Process Simulate viewers, so the results of running the program
can be observed in all the viewers. If the program is also loaded in the Sequence Editor, clicking Execute
is equivalent to single-stepping the program - for more information, refer to Debug SCL program.

The program runs once for each time interval.

If there is an error, the message displays debugging information about the error.

If you are executing a number of FBs in different resources and an error is detected, the SCL Editor might
not indicate in which FB the problem occurred. In this case, the Simulation Monitor opens a tab with the
name of the relevant FB and details of the error.

This enables you to load the relevant FB in the SCL Editor and correct the error.

Note
If the FBs interact, it is important to make sure that they are listed in the Object Viewer in the correct
order for execution.

SCL Debugging

SCL debugger

The Structured Control Language (SCL) debugger is a read-only, standalone application, provided with
Process Simulate. You launch it via the SCL Editor.

You can debug SCL programs within Process Simulate using the SCL Debugger and perform all of the
following to validate SCL scripts:

• View functions and variables

• Display and track the function calls
• Add breakpoints and step through program execution

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SCL debugger

The SCL Debugger displays the following information:

• Main window—Displays the current script.

• Scripts—Lists all the scripts referenced directly or indirectly by the main function block (the program
in the SCL Editor). These scripts are also called scriptlets. You can double-click any script in this
list to display its contents in the SCL debugger and add breakpoints as required. You can edit the
main function block in the SCL Editor. To edit a scriptlet, open it from the script vault (<installation
folder>\eMPower\Scripting\SCL\Vault).

• Callstack—Shows the sequence of function calls at a breakpoint. You can navigate the callstack by
clicking on the function name. In each function call you can see the state of the variables related to the
function.

• Commands—Enables you to evaluate SCL expressions at a breakpoint. Expressions can be copied from
the script text.

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 Debug SCL program

• Variables—Lists all local variables related to the script at a breakpoint.

Debug SCL program

The Structured Control Language (SCL) Debugger starts automatically when you execute a script manually
or run the simulation.

The debugger stops script execution at the first statement of the main function block, enabling you to add
breakpoints before the script executes for the first time.

Prerequisites

You must install Remote Tools for Microsoft Virtual Studio 2019. The Microsoft site lists additional
prerequisites. The system returns an error if Virtual Studio or other components are lacking.

Procedure

Procedure

1. Click to view the SCL Debugger window.

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Copying SCL programs

2. You can use any of the following tools when debugging the SCL code:

• or click Debug > Toggle Breakpoint or press <F9>—After selecting a statement, this function
enables you to insert or remove breakpoints at the specified statement in the SCL script. The
breakpoint stops the execution before the target statement is executed. Clicking the icon again
removes the specified breakpoint. When execution stops at a breakpoint, the SCL Editor is frozen. If
you wish to make any changes, terminate execution.

• or click Debug > Continue or press <F5>—Resumes execution.

• or click Debug > Halt or press <Ctrl> + <B>—Halts execution at the current statement.

• or click Debug > Abort or press <Shift> + <F5>—Aborts execution.

• or click Debug > Step Into or press F11—Accesses a subfunction and breaks execution at the
first statement.

• or click Debug > Step Over or press F10—Steps over (executes) the current statement. After
the statement is executed the values of all variables used in the statement are updated.

• or click Debug > Step Out or press F12—Completes execution of the function and breaks at the
next statement in the calling function.

Copying SCL programs

• After loading the relevant device in the SCL Editor, click Copy SCL Script .

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 Copying SCL programs

The following is an example of text copied from the SCL Editor.

You can also copy a program in text format to the SCL Editor.

◦ Click Paste SCL Script , navigate to the program text file, and click OK.
The program is copied to the SCL Editor. The variables are inserted in the variables table.

You can copy FBs in the SCL Editor to a text file. In this case, the variables table is also converted to text.

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Using FMUs in SCL

Using FMUs in SCL

FMUs (Functional Mock-up Units) conforming to the FMI Standard can be created using third-party tools
(for example the Open Modelia Project) or manually (for example, using C++ or C sharp). After defining
the desired behavior, the tool creates a DLL which you can load in Process Simulate. FMUs are useful for
exchanging dynamic models, for example a bouncing ball.

The following FMUs are supported:

• FMUs conforming to FMI Standard version 2.0.

• FMUs of category CoSimulation.
• FMUs of both category CoSimulation and category ModelExchange (but not ModelExchange alone).

Procedure

1. Create a FMU (Functional Mock-up Units) conforming to the FMI Standard by using a third-party tool
(for example the Open Modelia Project or manually (for example, using C++ or C#).

2. Copy the created FMU (*.fmu) to the FMI Vault in the Tecnoamtix installation folder
-> ...\Tecnomatix_<Version>\eMPower\Scripting\FMI\Vault.

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 3. Extract the *.fmu file—this creates a folder, containing the BouncingBall.dll and
modelDescription.xml.

4. Load the FMU as a static variable.

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 5. You can use the auto complete function to help you define the parameters.

6. Optionally, couple the FMU with the graphic representation of a kinematic device.

If you open data that refers to an FMU but the specified FMU has not been added to your FMU vault, the
system issues the following error message:

If FMU execution fails, the FMU issues an error message that is displayed in the SCL Editor:

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 SCL function reference

SCL function reference

List of SCL functions and function blocks in alphabetical order

Function / Function block Category

ABS Math
ACOS Math
ASIN Math
ATAN Math
Conveyor position Conveyors
COS Math
Create part appearance Material Flow
CTD INT Counters
CTU INT Counters
CTUD INT Counters
DEEMPHASIZE HMI
DEG TO RAD Math
Delete part appearance Material Flow
DINT TO DWORD Convertors
DINT TO INT Convertors
DINT TO REAL Convertors
DINT TO TIME Convertors
DINT TO WORD Convertors
DRIVE TO CONVEYOR Conveyors
DWORD TO DINT Convertors
DWORD TO WORD Convertors
EMPHASIZE HMI

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List of SCL functions and function blocks in alphabetical order

Function / Function block Category

ENABLE CONTROL POINT Conveyors
EXP Math
FE Bit Logic
FLOOR REAL Math
F TRIG Bit Logic
GENERIC SAFETY GATE Safety
GET ABS LOC Position
GRIP Gripper
INT TO DINT Convertors
INT TO REAL Convertors
INT TO SINT Convertors
INT TO UDINT Convertors
IS PICKED HMI
IS SELECTED HMI
JDS Kinematics
JUMP JOINT Kinematics
LINT TO DINT Convertors
LINT TO DINT Convertors
LN Math
LOGIC_UPDATE_RATE Time
LREAL TO LINT Convertors
LREAL TO REAL Convertors
MAX Math
MIN Math
MOVE JO NT_TO_VALUE Kinematics
MOVE TO POSE Kinematics
OFFSET ABS LOC Material Flow
RAD TO DEG Math
RE Bit Logic

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 List of SCL functions and function blocks in alphabetical order

Function / Function block Category

READ RECORD DONE PLCSIM Advanced
READ RECORD PENDING PLCSIM Advanced
REAL TO DINT Convertors
REAL TO DWORD Convertors
REAL TO INT Convertors
REAL TO LREAL Convertors
REAL TO UDINT Convertors
RELEASE Gripper
ROUND DINT Math
R TRIG Bit Logic
SAFETY LASER SCANNER Safety
SET ABS LOC Position
SHL Bit Logic
SHR Bit Logic
SIM TIME Time
SIN Math
SQR Math
SQRT Math
TAN Math
TIME TO DINT Conveyors
TIME TO INT Conveyors
TIME TO UDINT Conveyors
TOF TIME Timers
TON TIME Timers
TP TIME Timers
UDINTDINT Convertors
UDINT TO REAL Convertors
UDINT TO WORD Convertors
UNSELECT HMI

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Bit Logic

Function / Function block Category

WORD TO DWORD Convertors
WORD TO INT Convertors
WRITE RECORD DONE PLCSIM Advanced
WRITE RECORD PENDING PLCSIM Advanced

Bit Logic

F_TRIG

The function block detects a falling edge on a clock signal.

Short summary

Name F_TRIG
POU Type FB
Category Bit Logic
Graphical interface

Functionality

There should be one instance of the F_TRIG function block per clock signal.

Arguments

Direction Name Type Comment

Input CLK BOOL The clock signal’s current value
Output Q BOOL True if a falling edge is detected.
False otherwise.

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR

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 FE

VAR
trigger: F_TRIG;
END_VAR
BEGIN
#trigger(CLK:=#IN);
IF #trigger.Q THEN
// falling edge detected
;
END_IF;
END_FUNCTION_BLOCK

FE

Returns True if a falling edge is detected. Otherwise false.

Short summary

Name FE
POU Type FC
Category Bit Logic
Graphical interface

Functionality

A static variable should be used for the Q output to store the previous state of the clock signal.

Arguments

Direction Name Type Comment

Input CLK BOOL The clock signal to check
Output Q BOOL The previous state of the clock
signal
Return — BOOL True is a falling edge is detected.
value False otherwise.

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
CLK:BOOL;

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R_TRIG

END_VAR
VAR_OUTPUT
OUT:BOOL;
END_VAR
VAR
Q:BOOL;
END_VAR
BEGIN
#OUT := FE(CLK:=#CLK, Q=>#Q);
END_FUNCTION_BLOCK

R_TRIG

The function block detects a rising edge on a clock signal.

Short summary

Name R_TRIG
POU Type FB
Category Bit Logic
Graphical interface

Functionality

There should be one instance of the R_TRIG function block per clock signal.

Arguments

Direction Name Type Comment

Input CLK BOOL The clock signal’s current value
Output Q BOOL True if a rising edge is detected.
False otherwise.

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
trigger: R_TRIG;
END_VAR

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 RE

BEGIN
#trigger(CLK:=#IN);
IF #trigger.Q THEN
// rising edge detected
;
END_IF;
END_FUNCTION_BLOCK

RE

Returns True if a rising edge is detected. Otherwise false.

Short summary

Name RE
POU Type FC
Category Bit Logic
Graphical interface

Functionality

A static variable should be used for the Q output to store the previous state of the clock signal.

Arguments

Direction Name Type Comment

Input CLK BOOL The clock signal to check
Output Q BOOL The previous state of the clock
signal
Return — BOOL True is a rising edge is detected.
value False otherwise.

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
CLK:BOOL;
END_VAR
VAR_OUTPUT
OUT:BOOL;

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SHL

END_VAR
VAR
Q:BOOL;
END_VAR
BEGIN
#OUT := RE(CLK:=#CLK, Q=>#Q);
END_FUNCTION_BLOCK

SHL

The function shifts left a 32-bit pattern several bits.

Short summary

Name SHL
POU Type FC
Category Bit Logic
Graphical interface

Functionality

The value in the parameter IN is shifted as many places left, and as many bit places on the right-hand side
are replaced by 0 as specified by the parameter N.

Arguments

Direction Name Type Comment

Input IN DWORD The bit pattern to be shifted
Input N USINT The number of bits to shift left
Return — DWORD The shifted bit pattern
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DWORD:=1;
END_VAR
VAR_OUTPUT
OUT:DWORD;

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 SHR

END_VAR
BEGIN
#OUT := SHL(IN:=#IN, N:=1);
END_FUNCTION_BLOCK

SHR

The function shifts right a 32-bit pattern several bits.

Short summary

Name SHR
POU Type FC
Category Bit Logic
Graphical interface

Functionality

The value in the parameter IN is shifted as many places right, and as many bit places on the left-hand side
are replaced by 0 as specified by the parameter N.

Arguments

Direction Name Type Comment

Input IN DWORD The bit pattern to be shifted
Input N USINT The number of bits to shift left
Return — DWORD The shifted bit pattern
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DWORD:=1;
END_VAR
VAR_OUTPUT
OUT:DWORD;
END_VAR
BEGIN

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Convertors

#OUT := SHR(IN:=#IN, N:=1);

END_FUNCTION_BLOCK

Convertors

DINT_TO_DWORD

The function converts a value in DINT format to DWORD format.

Short summary

Name DINT_TO_DWORD
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the bit string.

Arguments

Direction Name Type Comment

Input IN DINT The value to convert
Return — DWORD The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DINT;
END_VAR
VAR_OUTPUT
OUT:DWORD;
END_VAR
BEGIN
#OUT := DINT_TO_DWORD(#IN);
END_FUNCTION_BLOCK

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 DINT_TO_INT

DINT_TO_INT

The function converts a value in DINT format to INT format.

Short summary

Name DINT_TO_INT
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the bit for the sign.

Arguments

Direction Name Type Comment

Input IN DINT The value to convert
Return — INT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DINT;
END_VAR
VAR_OUTPUT
OUT:INT;
END_VAR
BEGIN
#OUT := DINT_TO_INT(#IN);
END_FUNCTION_BLOCK

DINT_TO_REAL

The function converts a value in DINT format to REAL (float) format.

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DINT_TO_TIME

Short summary

Name DINT_TO_REAL
POU Type FC
Category Convertors
Graphical interface

Functionality

Transformation to REAL according to the IEEE standard. The value may change (due to the different
accuracy of REAL).

Arguments

Direction Name Type Comment

Input IN DINT The value to convert
Return — REAL The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DINT;
END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := DINT_TO_REAL(#IN);
END_FUNCTION_BLOCK

DINT_TO_TIME

The function converts a value in DINT format to TIME format.

Short summary

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 DINT_TO_WORD

Name DINT_TO_TIME
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the bit string.

Arguments

Direction Name Type Comment

Input IN DINT The value to convert
Return — TIME The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DINT;
END_VAR
VAR_OUTPUT
OUT:TIME;
END_VAR
BEGIN
#OUT := DINT_TO_TIME(#IN);
END_FUNCTION_BLOCK

DINT_TO_WORD

The function converts a value in DINT format to WORD format.

Short summary

Name DINT_TO_WORD
POU Type FC

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DWORD_TO_DINT

Category Convertors
Graphical interface

Functionality

DWORD_TO_WORD(DINT_TO_DWORD(x))

Arguments

Direction Name Type Comment

Input IN DINT The value to convert
Return — WORD The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DINT;
END_VAR
VAR_OUTPUT
OUT:WORD;
END_VAR
BEGIN
#OUT := DINT_TO_WORD(#IN);
END_FUNCTION_BLOCK

DWORD_TO_DINT

The function converts a value in DWORD format to DINT format.

Short summary

Name DWORD_TO_DINT
POU Type FC
Category Convertors
Graphical interface

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 DWORD_TO_WORD

Functionality

Copies the bit string.

Arguments

Direction Name Type Comment

Input IN DWORD The value to convert
Return — DINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DWORD;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := DWORD_TO_DINT(#IN);
END_FUNCTION_BLOCK

DWORD_TO_WORD

The function converts a value in DWORD format to WORD format.

Short summary

Name DWORD_TO_WORD
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the 16 least significant bits.

Arguments

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INT_TO_DINT

Direction Name Type Comment

Input IN DWORD The value to convert
Return — WORD The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:DWORD;
END_VAR
VAR_OUTPUT
OUT:WORD;
END_VAR
BEGIN
#OUT := DWORD_TO_WORD(#IN);
END_FUNCTION_BLOCK

INT_TO_DINT

The function converts a value in INT format to DINT format.

Short summary

Name INT_TO_DINT
POU Type FC
Category Convertors
Graphical interface

Functionality

The higher-order word of the function value is padded with 16#FFFF for a negative input parameter,
otherwise it is padded with zeros. The value remains the same.

Arguments

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 INT_TO_SINT

Direction Name Type Comment

Input IN INT The value to convert
Return — DINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:INT:=3;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := INT_TO_DINT(#IN);
END_FUNCTION_BLOCK

INT_TO_SINT

When called, the function converts a value in INT format to SINT format.

Short summary

Name INT_TO_SINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts INT value to SINT value.

Arguments

Direction Name Type Comment

Input IN INT The value to convert
Return — SINT The converted value
value

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INT_TO_REAL

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:INT;
END_VAR
VAR_OUTPUT
OUT:SINT;
END_VAR
BEGIN
#OUT := INT_TO_SINT(#IN);
END_FUNCTION_BLOCK

INT_TO_REAL

The function converts a value in INT format to REAL (float) format.

Short summary

Name INT_TO_REAL
POU Type FC
Category Convertors
Graphical interface

Functionality

Transformation to REAL according to the IEEE standard. The value remains the same.

Arguments

Direction Name Type Comment

Input IN INT The value to convert
Return — REAL The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT

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 INT_TO_UDINT

IN:INT:=3;
END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := INT_TO_REAL(#IN);
END_FUNCTION_BLOCK

INT_TO_UDINT

The function converts a value in INT format to UDINT format.

Short summary

Name INT_TO_UDINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts INT value to UDINT value.

Arguments

Direction Name Type Comment

Input IN INT The value to convert
Return — UDINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:INT:=3;
END_VAR
VAR_OUTPUT
OUT:UDINT;
END_VAR
BEGIN

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LINT_TO_DINT

#OUT := INT_TO_UDINT(#IN);
END_FUNCTION_BLOCK

LINT_TO_DINT

The function converts a value in LINT format to DINT format.

Short summary

Name LINT_TO_DINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts LINT value to DINT value.

Arguments

Direction Name Type Comment

Input IN LINT The value to convert
Return — DINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:LINT:=3;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := LINT_TO_DINT(#IN);
END_FUNCTION_BLOCK

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 LINT_TO_DWORD

LINT_TO_DWORD

The function converts a value in LINT format to DWORD format.

Short summary

Name LINT_TO_DWORD
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a LINT value to DWORD value.

Arguments

Direction Name Type Comment

Input IN LINT The value to convert
Return — DWORD The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:LINT:=3;
END_VAR
VAR_OUTPUT
OUT:DWORD;
END_VAR
BEGIN
#OUT := LINT_TO_DWORD(#IN);
END_FUNCTION_BLOCK

LREAL_TO_LINT

The function converts a value in LREAL (double) format to LINT format.

Short summary

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LREAL_TO_REAL

Name LREAL_TO_LINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a LREAL value to LINT value.

Arguments

Direction Name Type Comment

Input IN LREAL The value to convert
Return — LINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:LREAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:LINT;
END_VAR
BEGIN
#OUT := LREAL_TO_LINT(#IN);
END_FUNCTION_BLOCK

LREAL_TO_REAL

The function converts a value in LREAL (double) format to REAL (float) format.

Short summary

Name LREAL_TO_REAL
POU Type FC

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 REAL_TO_DINT

Category Convertors
Graphical interface

Functionality

Converts a LREAL value to REAL value.

Arguments

Direction Name Type Comment

Input IN LREAL The value to convert
Return — REAL The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:LREAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := LREAL_TO_REAL(#IN);
END_FUNCTION_BLOCK

REAL_TO_DINT

The function converts a value in REAL (float) format to DINT format.

Short summary

Name REAL_TO_DINT
POU Type FC
Category Convertors
Graphical interface

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REAL_TO_DWORD

Functionality

Rounds the IEEE REAL value to DINT.

Arguments

Direction Name Type Comment

Input IN REAL The value to convert
Return — DINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := REAL_TO_DINT(#IN);
END_FUNCTION_BLOCK

REAL_TO_DWORD

The function converts a value in REAL (float) format to DWORD format.

Short summary

Name REAL_TO_DWORD
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the bit string.

Arguments

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 REAL_TO_INT

Direction Name Type Comment

Input IN REAL The value to convert
Return — DWORD The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:DWORD;
END_VAR
BEGIN
#OUT := REAL_TO_DWORD(#IN);
END_FUNCTION_BLOCK

REAL_TO_INT

The function converts a value in REAL (float) format to INT format.

Short summary

Name REAL_TO_INT
POU Type FC
Category Convertors
Graphical interface

Functionality

Rounds the IEEE REAL value to INT.

Arguments

Direction Name Type Comment

Input IN REAL The value to convert
Return — INT The converted value
value

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REAL_TO_LREAL

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:INT;
END_VAR
BEGIN
#OUT := REAL_TO_INT(#IN);
END_FUNCTION_BLOCK

REAL_TO_LREAL

The function converts a value in REAL (float) format to LREAL (double) format.

Short summary

Name REAL_TO_LREAL
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a REAL value to LREAL value.

Arguments

Direction Name Type Comment

Input IN REAL The value to convert
Return — LREAL The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;

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 REAL_TO_UDINT

END_VAR
VAR_OUTPUT
OUT:LREAL;
END_VAR
BEGIN
#OUT := REAL_TO_LREAL(#IN);
END_FUNCTION_BLOCK

REAL_TO_UDINT

The function converts a value in REAL (float) format to UDINT format.

Short summary

Name REAL_TO_UDINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a REAL value to UDINT value.

Arguments

Direction Name Type Comment

Input IN REAL The value to convert
Return — UDINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:UDINT;
END_VAR
BEGIN

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TIME_TO_DINT

#OUT := REAL_TO_UDINT(#IN);
END_FUNCTION_BLOCK

TIME_TO_DINT

The function converts a value in TIME format to DINT format.

Short summary

Name TIME_TO_DINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the bit string.

Arguments

Direction Name Type Comment

Input IN TIME The value to convert
Return — DINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:TIME:=T#6ms;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := TIME_TO_DINT(#IN);
END_FUNCTION_BLOCK

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 TIME_TO_INT

TIME_TO_INT

The function converts a value in TIME format to INT format.

Short summary

Name TIME_TO_INT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a TIME value to INT value.

Arguments

Direction Name Type Comment

Input IN TIME The value to convert
Return — INT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:TIME:=T#6ms;
END_VAR
VAR_OUTPUT
OUT:INT;
END_VAR
BEGIN
#OUT := TIME_TO_INT(#IN);
END_FUNCTION_BLOCK

TIME_TO_UDINT

The function converts a value in TIME format to UDINT format.

Short summary

Process Simulate on Teamcenter 12-47

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UDINT_TO_DINT

Name TIME_TO_UDINT
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a TIME value to UDINT value.

Arguments

Direction Name Type Comment

Input IN TIME The value to convert
Return — UDINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:TIME:=T#6ms;
END_VAR
VAR_OUTPUT
OUT:UDINT;
END_VAR
BEGIN
#OUT := TIME_TO_UDINT(#IN);
END_FUNCTION_BLOCK

UDINT_TO_DINT

The function converts a value in UDINT format to DINT format.

Short summary

Name UDINT_TO_DINT
POU Type FC

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 UDINT_TO_REAL

Category Convertors
Graphical interface

Functionality

Converts a UDINT value to DINT value.

Arguments

Direction Name Type Comment

Input IN UDINT The value to convert
Return — DINT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:UDINT;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := UDINT_TO_DINT(#IN);
END_FUNCTION_BLOCK

UDINT_TO_REAL

The function converts a value in UDINT format to REAL (float) format.

Short summary

Name UDINT_TO_REAL
POU Type FC
Category Convertors
Graphical interface

Process Simulate on Teamcenter 12-49

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UDINT_TO_WORD

Functionality

Converts a UDINT value to REAL value.

Arguments

Direction Name Type Comment

Input IN UDINT The value to convert
Return — REAL The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:UDINT;
END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := UDINT_TO_REAL(#IN);
END_FUNCTION_BLOCK

UDINT_TO_WORD

The function converts a value in UDINT format to WORD format.

Short summary

Name UDINT_TO_WORD
POU Type FC
Category Convertors
Graphical interface

Functionality

Converts a UDINT value to WORD value.

Arguments

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 WORD_TO_DWORD

Direction Name Type Comment

Input IN UDINT The value to convert
Return — WORD The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:UDINT;
END_VAR
VAR_OUTPUT
OUT:WORD;
END_VAR
BEGIN
#OUT := UDINT_TO_WORD(#IN);
END_FUNCTION_BLOCK

WORD_TO_DWORD

The function converts a value in WORD format to DWORD format.

Short summary

Name WORD_TO_DWORD
POU Type FC
Category Convertors
Graphical interface

Functionality

Adds leading zeros.

Arguments

Direction Name Type Comment

Input IN WORD The value to convert
Return — DWORD The converted value
value

Process Simulate on Teamcenter 12-51

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WORD_TO_INT

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:WORD;
END_VAR
VAR_OUTPUT
OUT:DWORD;
END_VAR
BEGIN
#OUT := WORD_TO_DWORD(#IN);
END_FUNCTION_BLOCK

WORD_TO_INT

The function converts a value in WORD format to INT format.

Short summary

Name WORD_TO_INT
POU Type FC
Category Convertors
Graphical interface

Functionality

Copies the bit string.

Arguments

Direction Name Type Comment

Input IN WORD The value to convert
Return — INT The converted value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:WORD;

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 Conveyors

END_VAR
VAR_OUTPUT
OUT:INT;
END_VAR
BEGIN
#OUT := WORD_TO_INT(#IN);
END_FUNCTION_BLOCK

Conveyors

CONVEYOR_POSITION

The function reads and returns the current position of a conveyor in LREAL (Double) format when used
inside a component that is defined as a Conceptual Conveyor.

Short summary

Name CONVEYOR_POSITION
POU Type FC
Category Conveyors
Graphical interface

Functionality

The conveyor position is returned in millimeters. The function can only be used in components defined as
Conceptual Conveyors and returns an error for incorrectly defined devices.

Arguments

Direction Name Type Comment

Return — LREAL The current conveyor position
value

Process Simulate on Teamcenter 12-53

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DRIVE_CONVEYOR

Example

FUNCTION_BLOCK "MyFB"
VAR_OUTPUT
POS:LREAL;
END_VAR
BEGIN
#POS := CONVEYOR_POSITION();
END_FUNCTION_BLOCK

DRIVE_CONVEYOR

The function drives a conveyor to a target position.

Short summary

Name DRIVE_CONVEYOR
POU Type FC
Category Conveyors
Graphical interface

Functionality

The conveyor position is provided in millimeters. The function can only be used in components defined as
Conceptual Conveyors and returns an error if used in incorrectly defined devices.

Arguments

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 ENABLE_CONTROL_POINT

Direction Name Type Comment

Input POS LREAL The new conveyor position
Return — VOID
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
POS:LREAL;
END_VAR
BEGIN
DRIVE_CONVEYOR(POS:=#POS);
END_FUNCTION_BLOCK

ENABLE_CONTROL_POINT

The function activates or deactivates a control point when used inside a component, which is defined as
a Conceptual Conveyor. When a control point is enabled, it performs actions on parts and skids that are
brought to it. The actions are defined when configuring the conveyor.

Short summary

Name ENABLE_CONTROL_POINT
POU Type FC
Category Conveyors
Graphical interface

Functionality

The function can only be used in components defined as Conceptual Conveyors, and returns an error if
used in devices which are not correctly defined as such.

Process Simulate on Teamcenter 12-55

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ENABLE_CONTROL_POINT

If the control point is not defined on the conveyor an error is returned.

Arguments

Direction Name Type Comment

Input NAME STRING The name of the control point
Input VALUE BOOL True to enable the control point.
False otherwise
Return type — VOID

Example

FUNCTION_BLOCK "MyFB"
VAR_OUTPUT
NAME:STRING := ‘CP1’;
STATE:BOOL := True;
END_VAR
BEGIN
ENABLE_CONTROL_POINT(NAME:=#NAME, VALUE:=#STATE);
END_FUNCTION_BLOCK

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 Counters

Counters

CTD_INT

The function block implements a down counter for INT values.

Short summary

Name CTD_INT
POU Type FB
Category Counters
Graphical interface

Functionality

If there is a positive edge at input CD, the counter is activated and decrements the counter value by 1. If
input LD is toggled on, the counter value is reset to the initial value entered at PV. If the counter value
reaches or falls below 0, output Q is set to value True. Output CV returns the current counter value of the
block. There should be one instance of the CTD_INT function block per counter.

Arguments

Direction Name Type Comment

Input CD BOOL Decrements the counter in case
of positive edge
Input PV INT Initial value for counting
Input LD BOOL Flag for reset to value of PV
Output Q BOOL Flag showing whether value 0 is
reached or not
Output CV INT Current counter value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR

Process Simulate on Teamcenter 12-57

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CTU_INT

VAR
counter: CTD_INT;
END_VAR
BEGIN
#counter(CD:=#IN, PV:=100);
IF #counter.Q THEN
// Zero value reached
;
END_IF;
END_FUNCTION_BLOCK

CTU_INT

The function block implements an up counter for INT values.

Short summary

Name CTU_INT
POU Type FB
Category Counters
Graphical interface

Functionality

If there is a positive edge at input CU, the counter is activated and increments the counter by 1. If input
R is toggled on, the counter is reset to value 0. Enter a limiting value at input PV. If this limiting value is
reached or exceeded, output Q is set to True. Output CV returns the current counter value of the block.
There should be one instance of the CTU_INT function block per counter.

Arguments

Direction Name Type Comment

Input CU BOOL Increments the counter in case of
positive edge
Input PV INT Limiting counter value
Input R BOOL Reset flag

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 CTUD_INT

Direction Name Type Comment

Output Q BOOL Flag showing whether limiting
value is reached or not
Output CV INT Current counter value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
counter: CTU_INT;
END_VAR
BEGIN
#counter(CU:=#IN, PV:=100);
IF #counter.Q THEN
// limiting value reached
;
END_IF;
END_FUNCTION_BLOCK

CTUD_INT

The function block implements an up-down counter for INT values.

Short summary

Name CTUD_INT
POU Type FB
Category Counters
Graphical interface

Functionality

If there is a positive edge at input CU, the counter is activated and increments the counter value by 1. If
there is a positive edge at input CD, the counter is activated and decrements the counter value by 1.

Process Simulate on Teamcenter 12-59

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CTUD_INT

If input R is toggled on, the counter value is reset to value 0. If input LD is toggled on, the counter value
is reset to the value entered at PV. If this value is reached or exceeded when counting up, output QU is
set to value True. If the counter value reaches or falls below 0 when counting down, output QD is set to
value True. Output CV returns the current counter value of the block. There should be one instance of the
CTUD_INT function block per counter.

Arguments

Direction Name Type Comment

Input CU BOOL Increments the counter in case of
positive edge
Input CD BOOL Decrements the counter in case
of positive edge
Input PV INT Initial value for counting
Input R BOOL Reset flag
Input LD BOOL Flag for reset to value of PV
Output QU BOOL Flag showing whether limiting
value is reached or not
Output QD BOOL Flag showing whether value 0 is
reached or not
Output CV INT Current counter value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
UP: BOOL;
DOWN: BOOL;
RESET: BOOL;
LOAD: BOOL;
END_VAR
VAR
counter: CTUD_INT;
END_VAR
BEGIN
#counter(CU:=#UP, CD:=#DOWN, LD:=#LOAD, R:=#RESET, PV:=100);
IF #counter.QU THEN
// Limit value reached
;
END_IF;
IF #counter.QD THEN
// Zero value reached
;

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 Grippers

END_IF;
END_FUNCTION_BLOCK

Grippers

GRIP

The function can be used on a component defined as a gripper. The parts defined in the gripper’s gripped
object list are attached to the gripper’s frame when the function is called. This is done only if there is a
collision of the parts with the gripper.

Short summary

Name GRIP
POU Type FC
Category Gripper
Graphical interface

Functionality

The FRAME argument is optional. If the argument is missing or an empty string value is provided, the
gripper’s TCPF is used.

Arguments

Direction Name Type Comment

Input FRAME STRING The name of the gripper frame
Return — BOOL Returns true if the GRIP is
value successful. Otherwise false

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RELEASE

Example

FUNCTION_BLOCK "MyFB"
VAR_OUTPUT
OUT:BOOL;
END_VAR
BEGIN
#OUT := GRIP();
END_FUNCTION_BLOCK

RELEASE

The function can be used on a component defined as a gripper. The parts currently attached to the
gripper’s frame are detached when the function is called.

Short summary

Name RELEASE
POU Type FC
Category Gripper
Graphical interface

Functionality

The FRAME argument is optional. If the argument is missing or an empty string value is provided, the
gripper’s TCPF is used.

Arguments

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 HMI

Direction Name Type Comment

Input FRAME STRING The name of the gripper frame
Return — VOID —
value

Example

FUNCTION_BLOCK "MyFB"
BEGIN
RELEASE();
END_FUNCTION_BLOCK

HMI

DEEMPHASIZE

Indicates deactivation of object (set to Off) with designated color.

Short summary

Name DEEMPHASIZE
POU Type FC
Category HMI
Graphical interface

Functionality

The color is provided as ARGB structure with values for colors Red, Green, Blue (0-255) and transparency/
alpha (0-1). The default values for colors (Red, Green, Blue) are “0”. For transparency/alpha is “1”.

Color RGB Value

Black (0,0,0)
White (255,255,255)
Red (255,0,0)
Blue (0,0,255)

Process Simulate on Teamcenter 12-63

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DEEMPHASIZE

Color RGB Value

Yellow (255,255,0)
Gray (128,128,128)
Green (0,128,0)
Purple (128,0,128)
Teal (0,128,128)

Arguments

Direction Name Type Comment

Input NAME STRING If the name is provided the function works on the entity with that name.
If not provided, the function works on the resource
Input COLOR ARGB RGB colors with transparency (alpha)
Return value — BOOL Returns TRUE if the object is deemphasized successfully, otherwise FALSE

Note
You need to provide the color argument name explicitly since these functions have two arguments:

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 EMPHASIZE

EMPHASIZE(COLOR:=#gr_color);

DEEMPHASIZE(COLOR:=#gr_color);

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in : BOOL; // Turns the light ON/OFF
END_VARVAR
tone : "ARGB";
END_VAR
BEGIN
#tone.alpha := 0.1; // 90% transparency
#tone.r := 255; // red color
IF #in THEN
EMPHASIZE(COLOR:=#tone);
ELSE
DEEMPHASIZE(COLOR:=#tone);
END_IF;
#out := #in;
END_FUNCTION_BLOCK

EMPHASIZE

Indicates activation of object (set to On) with designated color.

Short summary

Name EMPHASIZE
POU Type FC
Category HMI
Graphical interface

Functionality

The color is provided as ARGB structure with values for colors Red, Green, Blue (0-255) and transparency/
alpha (0-1). The default values for colors (Red, Green, Blue) are “0”. For transparency/alpha is “1”.

Process Simulate on Teamcenter 12-65

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EMPHASIZE

Color RGB Value

Black (0,0,0)
White (255,255,255)
Red (255,0,0)
Blue (0,0,255)
Yellow (255,255,0)
Gray (128,128,128)
Green (0,128,0)
Purple (128,0,128)
Teal (0,128,128)

Arguments

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 IS_PICKED

Direction Name Type Comment

Input NAME STRING If the name is provided the function works on the entity with that name.
If not provided, the function works on the resource
Input COLOR ARGB RGB colors with transparency (alpha)
Return value — BOOL Returns TRUE if the object is emphasized successfully, otherwise FALSE

Note
You need to provide the color argument name explicitly since these functions have two arguments:

EMPHASIZE(COLOR:=#gr_color);

DEEMPHASIZE(COLOR:=#gr_color);

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in : BOOL; // Turns the light ON/OFF
END_VARVAR
tone : "ARGB";
END_VAR
BEGIN
#tone.alpha := 0.1; // 90% transparency
#tone.r := 255; // red color
IF #in THEN
EMPHASIZE(COLOR:=#tone);
ELSE
DEEMPHASIZE(COLOR:=#tone);
END_IF;
#out := #in;
END_FUNCTION_BLOCK

IS_PICKED

When called the function returns ‘true’ if the resource associated with the SCL script is currently picked in
the Graphics viewer. Otherwise returns 'false'.

Short summary

Name IS_PICKED
POU Type FC

Process Simulate on Teamcenter 12-67

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IS_SELECTED

Category HMI
Graphical interface

Functionality

The IS_PICKED function can be used to check if the resource associated with the SCL script is currently
picked (the user clicked on it) in the graphics viewer. The resource is considered picked by the first call to
the function after the mouse button has been released. Subsequent calls to this function will report it as
not picked.

IS_PICKED generates a pulse only when clicking the resource in the Graphic Viewer, but not in the Object
Viewer.

Arguments

Direction Name Type Comment

Input NAME STRING If the name is provided the
function works on the entity with
that name. If not provided, the
function works on the resource
Return — BOOL True if the resource is currently
value selected. Otherwise, false

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_OUTPUT
picked :BOOL;
END_VAR
BEGIN
#picked := IS_PICKED();
END_FUNCTION_BLOCK

IS_SELECTED

When called the function returns ‘true’ if the resource associated with the SCL script is currently selected.
Otherwise returns 'false'.

Short summary

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 UNSELECT

Name IS_SELECTED
POU Type FC
Category HMI
Graphical interface

Functionality

The IS_SELECTED function can be used to check if the resource associated with the SCL script is currently
selected. IS_SELECTED can be used in both the Graphic Viewer and the Object Viewing.

Arguments

Direction Name Type Comment

Input NAME STRING If the name is provided the
function works on the entity with
that name. If not provided, the
function works on the resource
Return — BOOL True if the resource is currently
value selected. Otherwise, false

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_OUTPUT
selected :BOOL;
END_VAR
BEGIN
#selected := IS_SELECTED();
END_FUNCTION_BLOCK

UNSELECT

The selected object is unselected.

Short summary

Name UNSELECT
POU Type FC

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Kinematics

Category HMI
Graphical interface

Arguments

Direction Name Type Comment

Return — BOOL Return TRUE if the object
value is unselected successfully,
otherwise FALSE

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_OUTPUT
isUnselected: BOOL;
END_VAR
BEGIN
#isUnselected := UNSELECT();
END_FUNCTION_BLOCK

Kinematics

JDS

Returns the current value of a kinematic joint in LREAL (double) format.

Short summary

Name JDS
POU Type FC
Category Kinematics
Graphical interface

Functionality

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 JUMP_JOINT

For prismatic joints the joint value is returned in millimeters. For revolute joints the joint value is returned
in radians. The function can only be used in components that have the related kinematics defined. It
returns an error if the target kinematic joint is missing.

Arguments

Direction Name Type Comment

Input NAME STRING The name of the joint
Return — LREAL The joint value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
NAME:STRING:= 'j1';
END_VAR
VAR_OUTPUT
VALUE:LREAL:=0.0;
END_VAR
BEGIN
#VALUE := JDS(NAME:=#NAME);
END_FUNCTION_BLOCK

JUMP_JOINT

Jump a kinematic joint directly to the input value.

Short summary

Name JUMP_JOINT
POU Type FC

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MOVE_JOINT_TO_VALUE

Category Kinematics
Graphical interface

Functionality

For prismatic joints the joint value is provided in millimeters. For revolute joints the joint value is provided
in radians. The function can only be used in components that have the related kinematics defined. It
returns an error if the target kinematic joint is missing.

Arguments

Direction Name Type Comment

Input NAME STRING The name of the joint
VALUE LREAL The new joint value
Return value — VOID

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
NAME:STRING:= 'j1';
VALUE:LREAL:=0.0;
END_VAR
BEGIN
JUMP_JOINT(NAME:=#NAME, VALUE:=#VALUE);
END_FUNCTION_BLOCK

MOVE_JOINT_TO_VALUE

Moves the joint to the designated value using continuous motion.

Short summary

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 MOVE_JOINT_TO_VALUE

Name MOVE_JOINT_TO_VALUE
POU Type FB
Category Kinematics
Graphical interface

Functionality

The value is provided in radians in the case of Revolute joints and in mm for Prismatic joints.

The speed is provided in radians/sec in the case of Revolute joints and in mm/sec for Prismatic joints. The
acceleration is provided in radians/sec2 in the case of Revolute joints and in mm/sec2 for Prismatic joints.

The deceleration is provided in radians/sec2 in the case of Revolute joints and in mm/sec2 for Prismatic
joints.

The function block can only be used in components that have the related kinematics defined. It returns an
error if the joint is missing.

Arguments

Direction Name Type Comment

Input NAME STRING The name of the joint
Input VALUE LREAL The motion duration when
moving to the target position
Input SPEED LREAL The motion speed when moving
to the target position

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MOVE_TO_POSE

Direction Name Type Comment

Input/ STARTED BOOL A flag indicating whether the
Output motion is started
Input ACCELERAT LREAL The motion acceleration
ION
Input DECELERAT LREAL The motion deceleration
ION

Examples

FUNCTION_BLOCK "MAIN"
VAR_INPUT
mjv: MOVE_JOINT_TO_VALUE;
END_VAR
BEGIN
#mjv(NAME := 'j1', VALUE := 2, SPEED:= 2, ACCELERATION := 0.5,
DECELERATION := 1);
END_FUNCTION_BLOCK

MOVE_TO_POSE

The function block moves the current resource from its current pose to a given pose specified as an input
argument.

Short summary

Name MOVE_TO_POSE
POU Type FB
Category Kinematics
Graphical interface

Functionality

MOVE_TO_POSE drives the device from its current pose to the target pose specified in the NAME input.
Motion time can depend on either a specific SPEED or DURATION, so you should provide only one of these
inputs to the function block. If both are specified when calling the Function Block, results may vary. For
Duration, specify the total time to move in SECONDS (for example 2 means 2 seconds). Note that this
time includes both acceleration, constant velocity motion and deceleration. Maximal possible speed and

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 MOVE_TO_POSE

acceleration also depends on the values defined for each joint in the Kinematics Editor. The function does
not allow exceeding maximal velocity or acceleration, so if such values are reached, duration will NOT
be met (motion will take longer than specified Duration). With SPEED, specify the percentage of maximal
speed to be used (for example 50 means 50% of maximal speed). The function will accelerate until it
reaches this percentage of the Kinematic Speed, as allowed by each joint.

The function block can only be used in components that have the related kinematics defined. It returns an
error if the target kinematic pose is missing, but cannot report using speeds higher than allowed in the
kinematics.

Arguments

Direction Name Type Comment

Input NAME STRING The name of the target pose
Input DURATION LREAL The movement duration when
moving to the target pose, in
seconds
Input SPEED LREAL The movement speed when
moving to the target pose, in %
of the maximal kinematic speed
Output STARTED BOOL A flag indicating the movement

Examples

FUNCTION_BLOCK "MTP_DURATION"
VAR_INPUT
TRIGGER : BOOL;
END_VAR
VAR
MOVE : MOVE_TO_POSE;
END_VAR
BEGIN
// START PROGRAM
IF #TRIGGER THEN
#MOVE(NAME:='END',DURATION:=2);
ELSE
#MOVE(NAME:='HOME',DURATION:=2);

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Material Flow

END_IF;
// END PROGRAM
END_FUNCTION_BLOCK

FUNCTION_BLOCK "MTP_SPEED"
VAR_INPUT
TRIGGER : BOOL;
END_VAR
VAR
MOVE : MOVE_TO_POSE;
END_VAR
BEGIN
// START PROGRAM
IF #TRIGGER THEN
#MOVE(NAME:='END',SPEED:=5);
ELSE
#MOVE(NAME:='HOME',SPEED:=5);
END_IF;
// END PROGRAM
END_FUNCTION_BLOCK

Material Flow

CREATE_PART_APPEARANCE

The function creates a part appearance of the specified part at the specified location.

Short summary

Name CREATE_PART_APPEARANCE
POU Type FC
Category Material Flow
Graphical interface

Functionality

The CREATE_PART_APPEARANCE function can be used to create Part Appearances during Line Simulation.
When called, the function generates a single part appearance (every time it is called) of <PART>. The
Appearance is generated so that its SELF frame is located directly at the SCL Resource's SELF Frame. The

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 CREATE_PART_APPEARANCE

optional <LOC> argument enables users to override the generation location of the appearance using an
ABS_LOC argument. If the target part is missing the function generates an error message:

Arguments

Direction Name Type Comment

Input PART STRING The name of the part
Input LOC “ABS_LOC” (optional) The absolute location
of the part appearance to
be created. If not specified,
the absolute location of the
underlying resource is used.
Return - VOID
value

Example

Process Simulate on Teamcenter 12-77

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DELETE_PART_APPEARANCE

The following code will generate a single Part Appearance on trigger edge, on the SCL resource's SELF
frame. See additional examples under …\eMPower\Scripting\SCL\Templates\MaterialFlow

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
partName : STRING; // The name of the part
clk : BOOL; // The clock signal. (part appearance will be created on
positive edge)
END_VAR
VAR
trigger : R_TRIG; // Positive edge trigger
END_VAR
BEGIN
#trigger(CLK:=#clk);
if #trigger.Q then
CREATE_PART_APPEARANCE(PART:=#partName);
end_if;
END_FUNCTION_BLOCK

DELETE_PART_APPEARANCE

The function deletes all part appearances near the specified location.

Short summary

Name DELETE_PART_APPEARANCE
POU Type FC
Category Material Flow
Graphical interface

Functionality

The DELETE_PART_APPEARANCE function enables the automatic material flow during line simulation. It
deletes all part appearances in range near a specified location.

Arguments

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 OFFSET_ABS_LOC

Direction Name Type Comment

Input PART STRING (optional) The name of the part.
If missing, part appearances of
all parts are deleted.
Input RANGE LREAL The range (mm) around the
location that are used to detect
part appearances.
Input LOC “ABS_LOC” (optional) The absolute location
where part appearances will
be deleted. If not specified,
the absolute location of the
underlying resource will be used.
Return - VOID
value

Examples

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
partName : STRING; // The name of the part
clk : BOOL; // The clock signal. (part appearance will be deleted on
positive edge)
END_VAR
VAR
trigger : R_TRIG; // Positive edge trigger
END_VAR
BEGIN
#trigger(CLK:=#clk);
if #trigger.Q then
DELETE_PART_APPEARANCE(PART:=#partName, RANGE:=600);
end_if;
END_FUNCTION_BLOCK

OFFSET_ABS_LOC

The function performs relative transformation of an absolute location. You can use this for material flow
when placing a part appearance on a location relative to the self-frame of the underlying resource.

Short summary

Name OFFSET_ABS_LOC
POU Type FC

Process Simulate on Teamcenter 12-79

Unpublished work. © 2024 Siemens
OFFSET_ABS_LOC

Category Material Flow

Graphical interface

Functionality

The OFFSET_ABS_LOC function enables automatic material flow during line simulation. Use it with either
the CREATE_PART_APPEARANCE or the DELETE_PART_APPEARANCE function. It allows you to relocate the
parts relative to the underlying resource’s self-frame. If not used, the parts are relocated relative to the
working frame.

Arguments

Direction Name Type Comment

Input IN “ABS_LOC” (optional) The absolute location
to transform. If missing, the
resource’s self-frame is used for
the transformation.
Output OUT “ABS_LOC” The transformed absolute
location.
Input X “ABS_LOC” Offset by X axis (mm)
Input Y LREAL Offset by Y axis (mm)
Input Z LREAL Offset by Z axis (mm)
Input RX LREAL Rotation around the original X
axis (rad)
Input RY LREAL Rotation around the original Y
axis (rad)
Input RZ LREAL Rotation around the original Z
axis (rad)
Return - VOID
value

12-80 Process Simulate on Teamcenter

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 Math

Examples

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
partName : STRING := 'Part1'; // The name of the origin part
clk : BOOL; // The clock signal
deg : INT := 90; // Part rotation angle (DEG)
END_VAR
VAR
trigger : R_TRIG; // Positive edge trigger
END_VAR
VAR_TEMP
newLoc : "ABS_LOC"; // New part location
END_VAR
BEGIN
#trigger(CLK:=#clk);
if #trigger.Q then
OFFSET_ABS_LOC( // Rotate the location around the Z axis
RZ:=DEG_TO_RAD(#deg), // of the resource’s self-frame and store
OUT=>#newLoc); // the result in the newLoc variable
CREATE_PART_APPEARANCE( // Create the part appearance
PART:=#partName, // at the new location
LOC:=#newLoc);
end_if;
END_FUNCTION_BLOCK

Math

ABS

The function returns the absolute value of a number in REAL (float) format.

Short summary

Name ABS
POU Type FC
Category Math
Graphical interface

Functionality

Number

Process Simulate on Teamcenter 12-81

Unpublished work. © 2024 Siemens
ACOS

Arguments

Direction Name Type Comment

Input IN REAL The number for which to get the
absolute value
Return — REAL The absolute value of the
value number passed on input

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=-3.45;
END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := ABS(#IN);
END_FUNCTION_BLOCK

ACOS

The function returns the absolute value of a number in REAL (float) format.

Short summary

Name ACOS
POU Type FC
Category Math
Graphical interface

Functionality

The ACOS function returns the arccosine (in radians) of the given number if it's between -1 and 1;
otherwise, an error message is generated. The return value is between 0 and π radians.

12-82 Process Simulate on Teamcenter

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 ACOS

Arguments

Direction Name Type Comment

Input IN REAL The input number
Return — REAL The angle in radians
value

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := ACOS(#in);
END_FUNCTION_BLOCK

Process Simulate on Teamcenter 12-83

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ASIN

ASIN

The function returns the arcsine of a number.

Short summary

Name ASIN
POU Type FC
Category Math
Graphical interface

Functionality

The ASIN function returns the arcsine (in radians) of the given number if it's between -1 and 1; otherwise,
an error message is generated. The return value is between – π/2 and π/2 radians.

Arguments

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 ATAN

Direction Name Type Comment

Input IN REAL The input number
Return — REAL The angle in radians
value

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := ASIN(#in);
END_FUNCTION_BLOCK

ATAN

The function returns the arctangent of a number.

Short summary

Name ATAN
POU Type FC
Category Math
Graphical interface

Functionality

The ATAN function returns the arctangent (in radians) of the given number. The return value is between –
π/2 and π/2 radians.

Arguments

Process Simulate on Teamcenter 12-85

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COS

Direction Name Type Comment

Input IN REAL The input number
Return — REAL The angle in radians
value

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := ATAN(#in);
END_FUNCTION_BLOCK

COS

The function returns the cosine of a number.

Short summary

Name COS
POU Type FC
Category Math
Graphical interface

Functionality

The COS function returns a numeric value between -1 and 1, which represents the cosine of the angle
given in radians.

Arguments

12-86 Process Simulate on Teamcenter

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 DEG_TO_RAD

Direction Name Type Comment

Input IN REAL The angle in radians
Return — REAL The cosine of the angle
value

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := COS(#in);
END_FUNCTION_BLOCK

DEG_TO_RAD

The function converts its input from degrees to radians.

Short summary

Name DEG_TO_RAD
POU Type FC
Category Math
Graphical interface

Functionality

Converts degrees to radians.

Arguments

Process Simulate on Teamcenter 12-87

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EXP

Direction Name Type Comment

Input IN LREAL The number to be converted
Return — LREAL The converted number value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:LREAL:=90;
END_VAR
VAR_OUTPUT
OUT:LREAL;
END_VAR
BEGIN
#OUT := DEG_TO_RAD(#IN);
END_FUNCTION_BLOCK

EXP

The function returns the result of the constant e raised to the power of a number in REAL (float) format.

Short summary

Name EXP
POU Type FC
Category Math
Graphical interface

Functionality

e to the power IN

Arguments

Direction Name Type Comment

Input IN REAL The power to which e is raised
Return — REAL The result of the calculation
value

12-88 Process Simulate on Teamcenter

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 FLOOR_REAL

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := EXP(#IN);
END_FUNCTION_BLOCK

FLOOR_REAL

The function returns the greatest integer less than or equal to the input number in REAL (float) format.

Short summary

Name FLOOR_REAL
POU Type FC
Category Math
Graphical interface

Functionality

Returns greatest integer less than or equal to the input REAL value.

Arguments

Direction Name Type Comment

Input IN REAL The number to be floored
Return — REAL The floored number value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;

Process Simulate on Teamcenter 12-89

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LN

END_VAR
VAR_OUTPUT
OUT:REAL;
END_VAR
BEGIN
#OUT := FLOOR_REAL(#IN);
END_FUNCTION_BLOCK

LN

When called the function returns the natural logarithm of a number.

Short summary

Name LN
POU Type FC
Category Math
Graphical interface

Functionality

12-90 Process Simulate on Teamcenter

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 LN

The LN function returns the natural logarithm of the given

number. If the number is negative an error message is

generated.

Arguments

Direction Name Type Comment

Input IN REAL The input number
Return — REAL The natural logarithm of the
value input number

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := LN(#in);
END_FUNCTION_BLOCK

Process Simulate on Teamcenter 12-91

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MAX

MAX

The function returns the bigger of two numbers in SINT (BYTE) format.

Short summary

Name MAX
POU Type FC
Category Math
Graphical interface

Functionality

The larger of two numbers in SINT format is returned.

Arguments

Direction Name Type Comment

Input IN1 SINT The first number
Input IN2 SINT The second number
Return — SINT The bigger of the input numbers
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN1:SINT:=3;
IN2:SINT:=4;
END_VAR
VAR_OUTPUT
OUT:SINT;
END_VAR
BEGIN
#OUT := MAX(IN1:=#IN1, IN2:=#IN2);
END_FUNCTION_BLOCK

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 MIN

MIN

The function returns the smaller of two numbers in SINT (BYTE) format.

Short summary

Name MIN
POU Type FC
Category Math
Graphical interface

Functionality

The smaller of two numbers in SINT is returned.

Arguments

Direction Name Type Comment

Input IN1 SINT The first number
Input IN2 SINT The second number
Return — SINT The smaller of the input numbers
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN1:SINT:=3;
IN2:SINT:=4;
END_VAR
VAR_OUTPUT
OUT:SINT;
END_VAR
BEGIN
#OUT := MIN(IN1:=#IN1, IN2:=#IN2);
END_FUNCTION_BLOCK

Process Simulate on Teamcenter 12-93

Unpublished work. © 2024 Siemens
RAD_TO_DEG

RAD_TO_DEG

The function converts its input from radians to degrees.

Short summary

Name RAD_TO_DEG
POU Type FC
Category Math
Graphical interface

Functionality

Converts radians to degrees.

Arguments

Direction Name Type Comment

Input IN LREAL The number to be converted
Return — LREAL The converted number value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:LREAL:=1.57
END_VAR
VAR_OUTPUT
OUT:LREAL;
END_VAR
BEGIN
#OUT := RAD_TO_DEG(#IN);
END_FUNCTION_BLOCK

ROUND_DINT

The function rounds an input number in REAL (float) format.

Short summary

12-94 Process Simulate on Teamcenter

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 SIN

Name ROUND_DINT
POU Type FC
Category Math
Graphical interface

Functionality

Rounds input in REAL format.

Arguments

Direction Name Type Comment

Input IN REAL The number to be rounded
Return — DINT The rounded number value
value

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN:REAL:=3.45;
END_VAR
VAR_OUTPUT
OUT:DINT;
END_VAR
BEGIN
#OUT := ROUND_DINT(#IN);
END_FUNCTION_BLOCK

SIN

The function returns the sine of a number.

Short summary

Name SIN
POU Type FC

Process Simulate on Teamcenter 12-95

Unpublished work. © 2024 Siemens
SQR

Category Math
Graphical interface

Functionality

The SIN function returns a numeric value between -1 and 1, which represents the sine of the angle given
in radians.

Arguments

Direction Name Type Comment

Input IN REAL The angle in radians
Return — REAL The sine of the angle
value

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := SIN(#in);
END_FUNCTION_BLOCK

SQR

When called the function returns the square (x²) of a number.

Short summary

Name SQR
POU Type FC

12-96 Process Simulate on Teamcenter

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 SQRT

Category Math
Graphical interface

Functionality

The SQR function returns the square of the given number.

Arguments

Direction Name Type Comment

Input IN REAL The input number
Return — REAL The square (x²) of the input
value number

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in :REAL;
END_VAR
VAR_OUTPUT
out :REAL;
END_VAR
BEGIN
#out := SQR(#in);
END_FUNCTION_BLOCK

SQRT

The function returns the square root of a number.

Short summary

Name SQRT
POU Type FC
Category Math
Graphical interface

Process Simulate on Teamcenter 12-97

Unpublished work. © 2024 Siemens
SQRT

Functionality

The SQRT function returns the square root of the given number. If the number is negative an error
message is generated.

Arguments

Direction Name Type Comment

Input IN REAL The input number
Return — REAL The square root of the input
value number

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in :REAL;
END_VAR
VAR_OUTPUT
out :REAL;
END_VAR
BEGIN

12-98 Process Simulate on Teamcenter

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 TAN

#out := SQRT(#in);
END_FUNCTION_BLOCK

TAN

The function returns the tangent of a number.

Short summary

Name TAN
POU Type FC
Category Math
Graphical interface

Functionality

The TAN function returns a numeric value that represents the tangent of an angle in radians.

Arguments

Direction Name Type Comment

Input IN REAL The angle in radians
Return — REAL The tangent of the angle
value

Example

FUNCTION_BLOCK "MAIN"
VERSION:1.0
VAR_INPUT
in:REAL;
END_VAR
VAR_OUTPUT
out:REAL;
END_VAR
BEGIN
#out := TAN(#in);
END_FUNCTION_BLOCK

Process Simulate on Teamcenter 12-99

Unpublished work. © 2024 Siemens
PLCSIM advanced

PLCSIM advanced

READ_RECORD_DONE

The function acknowledges or rejects a pending asynchronous read request initiated by the PLC. The
contents of the RCDATA buffer are sent to the PLC.

Short summary

Name READ_RECORD_DONE
POU Type FC
Category PLCSIM Advanced
Graphical interface

Functionality

If the size of the data buffer is smaller than RCSIZE, the function returns a buffer overflow error. Values for
the SCODE argument come from PLCSIM Advanced API.

Arguments

12-100 Process Simulate on Teamcenter

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 READ_RECORD_PENDING

Direction Name Type Comment

Input CN STRING The name of the external connection
Input HWID UDINT The hardware identifier of the device communicating with
the PLC
Input RCID UDINT The record identifier of interest
Input/Output RCDATA ARRAY [0..4095] of The data buffer to be sent to the PLC
BYTE
Input RCSIZE UDINT The size of the data record requested by the PLC
Input SCODE UDINT Confirmation code
Return value — VOID —

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
RCSIZE:UDINT;
RCDATA:ARRAY [0..4095] of BYTE;
END_VAR
BEGIN
READ_RECORD_DONE (CN:= 'MyPLC', HWID:=265, RCID:=0, RCDATA:=#RCDATA,
RCSIZE:=#RCSIZE, SCODE:=0);
END_FUNCTION_BLOCK

READ_RECORD_PENDING

The function checks for a pending asynchronous read request initiated by the PLC. Returns True if the PLC
has initiated a read request. False otherwise. If True the size of the data record is returned via the RCSIZE
parameter.

Short summary

Name READ_RECORD_PENDING
POU Type FC
Category PLCSIM Advanced
Graphical interface

Process Simulate on Teamcenter 12-101

Unpublished work. © 2024 Siemens
WRITE_RECORD_DONE

Functionality

If the function returns true, then the SCL block either acknowledges or rejects the request by calling the
READ_RECORD_DONE function.

Arguments

Direction Name Type Comment

Input CN STRING The name of the external
connection
Input HWID UDINT The hardware identifier of the
device communicating with the
PLC
Input RCID UDINT The record identifier of interest
Output RCSIZE UDINT The size of the data record
requested by the PLC
Return — BOOL True if the PLC has initiated a
value read request

Example

FUNCTION_BLOCK "MyFB"
VAR
RCSIZE:UDINT;
END_VAR
BEGIN
IF READ_RECORD_PENDING (CN:= 'MyPLC', HWID:=265, RCID:=0, RCSIZE=>#RCSIZE)
THEN
// acknowledge or reject the record
// using READ_RECORD_DONE function
;
END_IF;
END_FUNCTION_BLOCK

WRITE_RECORD_DONE

The function acknowledges or rejects a pending asynchronous write request initiated by the PLC. The
contents of the data buffer are handled by the SCL block.

Short summary

12-102 Process Simulate on Teamcenter

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 WRITE_RECORD_DONE

Name WRITE_RECORD_DONE
POU Type FC
Category PLCSIM Advanced
Graphical interface

Functionality

Values for the SCODE argument come from PLCSIM Advanced API.

Arguments

Direction Name Type Comment

Input CN STRING The name of the external
connection
Input HWID UDINT The hardware identifier of the
device communicating with the
PLC
Input RCID UDINT The record identifier of interest
Input RCSIZE UDINT The size of the data record
requested by the PLC
Input SCODE UDINT Confirmation code
Return — VOID —
value

Example

FUNCTION_BLOCK "MyFB"
VAR
RCSIZE:UDINT;
END_VAR
BEGIN
WRITE_RECORD_DONE(CN:= 'MyPLC', HWID:=265, RCID:=0, RCSIZE:=#RCSIZE,
SCODE:=0);
END_FUNCTION_BLOCK

Process Simulate on Teamcenter 12-103

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WRITE_RECORD_PENDING

WRITE_RECORD_PENDING

The function checks for a pending asynchronous write request initiated by the PLC. Returns True if the PLC
has initiated a write request. False otherwise. If True the record data is returned via the RCDATA parameter
and the record size if returned via the RCSIZE parameter.

Short summary

Name WRITE_RECORD_PENDING
POU Type FC
Category PLCSIM Advanced
Graphical interface

Functionality

If the function returns True then the SCL block either acknowledges or rejects the request by calling the
WRITE_RECORD_DONE function. If the size of the data buffer is smaller than RCSIZE the function returns a
buffer overflow error.

Arguments

Direction Name Type Comment

Input CN STRING The name of the external
connection
Input HWID UDINT The hardware identifier of the
device communicating with the
PLC
Input RCID UDINT The record identifier of interest
Output RCDATA ARRAY The data buffer received from the
[0..4095] PLC
of BYTE
Output RCSIZE UDINT The size of the data record
requested by the PLC
Return — BOOL True if the PLC has initiated a
value write request. False otherwise

12-104 Process Simulate on Teamcenter

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 Safety

Example

FUNCTION_BLOCK "MyFB"
VAR
RCSIZE:UDINT;
RCDATA:ARRAY [0..4095] of BYTE;
END_VAR
BEGIN
IF WRITE_RECORD_PENDING (CN:= 'MyPLC', HWID:=265, RCID:=0,
RCDATA=>#RCDATA, RCSIZE=>#RCSIZE) THEN
// acknowledge or reject the record
// using WRITE_RECORD_DONE function
;
END_IF;
END_FUNCTION_BLOCK

Safety

"GENERIC_SAFETY_GATE"

The function block implements the behavior of a safety gate. The gate can be opened or closed. The open
or close duration can also be specified.

Short summary

Name “GENERIC_SAFETY_GATE”
POU Type FB
Category Safety
Graphical interface

Functionality

There should be one instance of the “GENERIC_SAFETY_GATE” function block per gate. If the target pose is
not defined for the underlying resource, then an error is returned.

Process Simulate on Teamcenter 12-105

Unpublished work. © 2024 Siemens
"GENERIC_SAFETY_GATE"

Arguments

Direction Name Type Comment

Input toOpen BOOL If True opens the gate. Otherwise
closes the gate.
Input poseGateO STRING The name of the OPEN pose.
pen Defaults to OPEN.
Input poseGateCl STRING The name of the CLOSE pose.
osed Defaults to CLOSED.
Input gateDriving STRING The name of the driving joint for
Joint the gate. Defaults to j1.
Input eps REAL Tolerance for pose detection.
Input duration REAL Time for gate movement in
seconds.
Output atOpen BOOL Flag indicating open gate.
Output atClose BOOL Flag indicating closed gate.

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
gate: "GENERIC_SAFETY_GATE";
END_VAR
BEGIN
#gate(toOpen:=#IN, duration:=4);
IF #gate.atOpen THEN
// Gate opened
;

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 "SAFETY_LASER_SCANNER"

END_IF;
END_FUNCTION_BLOCK

"SAFETY_LASER_SCANNER"

The function block implements the behavior of a safety laser scanner. The laser scanner is a device that has
a shutter. When the shutter is open it can take measurements.

Short summary

Name “SAFETY_LASER_SCANNER”
POU Type FB
Category Safety
Graphical interface

Functionality

There should be one instance of the “SAFETY_LASER_SCANNER” function block per device.

Arguments

Direction Name Type Comment

Input openShutt BOOL Opens the shutter.
er
Input closeShutt BOOL Closes the shutter.
er
Input startMeasu BOOL Initiate measurement.
rement
Input PT TIME Provisioning time. Defaults to 5
seconds.
Output ready BOOL Device is ready for use.

Process Simulate on Teamcenter 12-107

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Position

Direction Name Type Comment

Output shutterClos BOOL Shutter closed flag.
ed
Output idle BOOL Idle flag.
Output shutterOpe BOOL Shutter open flag.
n
Output shutterMov BOOL Shutter move flag.
e
Output shutterAck BOOL Shutter acknowledge flag.
Output meaActive BOOL Measurement active flag.
Output meaFinishe BOOL Measurement finished flag.
d

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
scanner: "SAFETY_LASER_SCANNER";
END_VAR
BEGIN
#scanner(openShutter:=#IN, PT:=T#5S);
IF #scanner.shutterOpen THEN
// Shutter opened
;
END_IF;
END_FUNCTION_BLOCK

Position

GET_ABS_LOC

When called, the function returns the current absolute location of the resource.

Name GET_ABS_LOC
POU Type FC

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 GET_ABS_LOC

Category Position
Graphical interface

Functionality

The current absolute location is provided as “ABS_LOC” UDT defined as follows:

TYPE "ABS_LOC"
VERSION: 0.1
STRUCT
x:LREAL;
y:LREAL;
z:LREAL;
rx:LREAL;
ry:LREAL;
rz:LREAL;
END_STRUCT;
END_TYPE

x, y, z: world coordinates in MM (not relative to the current Working Frame)

rx, ry, rz: rotation values in RAD around world’s X/Y/Z axis using RPY_XYZ rotation order (not relative to the
current Working Frame)

Arguments

Direction Name Type Comment

Output POS “ABS_LOC” The current absolute location of
the resource
Return — VOID
value

Example

FUNCTION_BLOCK "MyFB"
VAR
pos: "ABS_LOC";
END_VAR
BEGIN
// Get the current absolute location of the resource.

Process Simulate on Teamcenter 12-109

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SET_ABS_LOC

GET_ABS_LOC (#pos);
END_FUNCTION_BLOCK

SET_ABS_LOC

When called, the function sets the absolute location of the resource.

Name SET_ABS_LOC
POU Type FC
Category Position
Graphical interface

Functionality

The target absolute location is provided as “ABS_LOC” UDT defined as follows:

TYPE "ABS_LOC"
VERSION: 0.1
STRUCT
x:LREAL;
y:LREAL;
z:LREAL;
rx:LREAL;
ry:LREAL;
rz:LREAL;
END_STRUCT;
END_TYPE

x, y, z: world coordinates in MM (not relative to the current Working Frame)

rx, ry, rz: rotation values in RAD around world’s X/Y/Z axis using RPY_XYZ rotation order (not relative to the
current Working Frame)

Arguments

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 Time

Direction Name Type Comment

Intput POS “ABS_LOC” The target absolute location of
the resource
Return — VOID
value

Example

FUNCTION_BLOCK "MyFB"
VAR
pos: "ABS_LOC";
END_VAR
BEGIN
// Get the current absolute location of the resource.
GET_ABS_LOC (#pos);
// Offset the absolute location with 100 (mm) in X direction.
#pos.x := #pos.x + 100;
// Set the updated absolute location of the resource.
SET_ABS_LOC(#pos);
END_FUNCTION_BLOCK

Time

SIM_TIME

During simulation, the function returns the simulation time in milliseconds. When called from the SCL
Editor the function returns the time passed since the system was started.

Short summary

Name SIM_TIME
POU Type FC
Category Time
Graphical interface

Functionality

The simulation time is encoded as a 4Byte unsigned integer (UDINT).

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LOGIC_UPDATE_RATE

Arguments

Direction Name Type Comment

Return — UDINT The time in milliseconds
value

Example

FUNCTION_BLOCK "MyFB"
VAR_OUTPUT
OUT:UDINT;
END_VAR
BEGIN
#OUT := SIM_TIME();
END_FUNCTION_BLOCK

LOGIC_UPDATE_RATE

During simulation, the function returns the logic update rate in milliseconds as configured in options.
When called from the SCL editor the function returns the logic update rate used for manually executing the
script. Usually it is set to 100ms.

Short summary

Name LOGIC_UPDATE_RATE
POU Type FC
Category Time
Graphical interface

Functionality

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 Timers

The logic update rate is encoded as a 4Byte unsigned integer (UDINT).

Arguments

Direction Name Type Comment

Return — UDINT The logic update rate in
value milliseconds

Example

FUNCTION_BLOCK "MyFB"
VAR_OUTPUT
OUT:UDINT;
END_VAR
BEGIN
#OUT := LOGIC_UPDATE_RATE();
END_FUNCTION_BLOCK

Timers

TOF_TIME

The function block implements an OFF-delay timer.

Short summary

Name TOF_TIME
POU Type FB
Category Timers
Graphical interface

Functionality

Enter the delay period at input PT. If input IN is toggled on, output Q returns True. If input IN is toggled
off and the delay period is over, output Q returns False. Output ET returns the expired time since turning
input IN off, until the value entered at PT is reached and if the input IN is toggled off. There should be one
instance of the TOF_TIME function block per timer.

Arguments

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TON_TIME

Direction Name Type Comment

Input IN BOOL Timer trigger on positive edge
Input PT TIME Preset time
Output Q BOOL Timer elapsed flag
Output ET TIME Elapsed time

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
timer: TOF_TIME;
END_VAR
BEGIN
#timer(IN:=#IN, PT:=T#2S);
IF #timer.Q THEN
// Timer elapsed
;
END_IF;
END_FUNCTION_BLOCK

TON_TIME

The function block implements an ON-delay timer.

Short summary

Name TON_TIME
POU Type FB
Category Timers
Graphical interface

Functionality

Enter the delay period at input PT. If input IN is toggled on and the delay period is over, output Q returns
True. Output ET returns the expired time since turning input IN on, until the value entered at PT is reached
and if the input IN is toggled on. There should be one instance of the TON_TIME function block per timer.

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 TP_TIME

Arguments

Direction Name Type Comment

Input IN BOOL Timer trigger on positive edge
Input PT TIME Preset time
Output Q BOOL Timer elapsed flag
Output ET TIME Elapsed time

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
timer: TON_TIME;
END_VAR
BEGIN
#timer(IN:=#IN, PT:=T#2S);
IF #timer.Q THEN
// Timer elapsed
;
END_IF;
END_FUNCTION_BLOCK

TP_TIME

The function block implements a pulse timer.

Short summary

Name TP_TIME
POU Type FB
Category Timers
Graphical interface

Functionality

Enter the length of the pulse at input PT. If input IN is toggled on and during the length of the pulse,
output Q returns value True. Output ET returns the expired time since turning input IN on, until the value

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SCL examples

entered at PT is reached and if the input IN is toggled on. There should be one instance of the TP_TIME
function block per timer.

Arguments

Direction Name Type Comment

Input IN BOOL Timer trigger on positive edge
Input PT TIME Preset time
Output Q BOOL Timer elapsed flag
Output ET TIME Elapsed time

Example

FUNCTION_BLOCK "MyFB"
VAR_INPUT
IN: BOOL;
END_VAR
VAR
timer: TP_TIME;
END_VAR
BEGIN
#timer(IN:=#IN, PT:=T#2S);
IF #timer.Q THEN
// Timer elapsed
;
END_IF;
END_FUNCTION_BLOCK

SCL examples

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 Clamp logic

Clamp logic

You can copy/paste this example or click here to download it .

FUNCTION_BLOCK "FN"
VAR CONSTANT
eps : REAL := 0.02; // Epsilon for Joint Value calculations
END_VAR
VAR_INPUT
toOpen : BOOL; // Drive to OPEN position
toClose : BOOL; // Drive to CLOSE position
PP : BOOL; // Part Sensor
DryRun : BOOL; // Allow clamp motion with no part
END_VAR
VAR_OUTPUT
atOpen : BOOL; // Detect Open position
atClose : BOOL; // Detect Close position
error_num : INT := 0; // ERROR Handling (1-5)
END_VAR
VAR_IN_OUT
J1 : REAL; // Joint Value - J1
J2 : REAL; // Joint Value - J2
END_VAR
VAR
MOVE : MOVE_TO_POSE; // General MOVE Action
END_VAR
BEGIN
// START PROGRAM
// Pose Sensors
#J1:=JDS(NAME:='j1')*57.2958; // Read j1 Value in RAD and converts to
DEG
#J2:=JDS(NAME:='j2')*57.2958; // Read j2 Value in RAD and converts to
DEG
// Detect CLOSE Pose
IF (#J1>-#eps AND #J1<#eps) AND (#J2>-#eps AND #J2<#eps) THEN
#atClose:=TRUE;
#atOpen:=FALSE;
// Detect OPEN Pose
ELSIF (#J1>(-90-#eps) AN #atOpen:=TRUE;D #J1<(-90+#eps)) AND
(#J2>(15-#eps) AND #J2<(15+#eps)) THEN
#atClose:=FALSE;
ELSE
#atClose:=FALSE;
#atOpen:=FALSE;
END_IF;
// ACTIONS
IF (#toClose AND NOT #toOpen AND NOT #atClose AND (#PP OR #DryRun)) THEN
#MOVE(NAME:='CLOSE', DURATION:=2);
ELSIF (#toOpen AND NOT #toClose AND NOT #atOpen AND (#PP OR #DryRun))
THEN
#MOVE(NAME:='OPEN', DURATION:=2);
// Error detection
ELSIF (#toClose AND #toOpen) THEN
#error_num:=1; //Both Open and Close controls are pushed in parallel

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Clamp logic

END_IF;
// END PROGRAM
END_FUNCTION_BLOCK

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 Joint distance sensor (JDS)

Joint distance sensor (JDS)

You can copy/paste this example or click here to download it .

FUNCTION_BLOCK "DetectZeroPosition"
VAR_IN_OUT
J1_Value: REAL;
IsZero : BOOL;
END_VAR
BEGIN
// START PROGRAM
#J1_Value:=JDS(NAME:='j1');
IF #J1_Value <> 0 THEN
#IsZero:=FALSE;
ELSE
#IsZero:=TRUE;
END_IF;
// END PROGRAM
END_FUNCTION_BLOCK

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Jump joint

Jump joint

You can copy/paste this example or click here to download it .

FUNCTION_BLOCK "MoveToTarget"
VAR_INPUT
J1_Value: REAL;
END_VAR
BEGIN
// START PROGRAM
IF (JDS(NAME:='j1') <> #J1_Value) THEN;
JUMP_JOINT(NAME:='j1',VALUE:=#J1_Value);
END_IF;
// END PROGRAM
END_FUNCTION_BLOCK

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 A-Synchronous communication

A-Synchronous communication

You can copy/paste this example or click here to download it .

FUNCTION_BLOCK "ACYCLIC_DEVICE"
VAR_INPUT
CN:STRING; // Connection name
HWID:UDINT; // Hardware ID
RCID:UDINT; // Record ID
IDLE:BOOL; // If 'True" the device is idle listening for PLC commands.
// Else acknowledges the PLC commands.
END_VAR
VAR_OUTPUT
DATAREADY:BOOL; // If 'True' the PLC has send a write command.
// Set only if the device is idle.
BYTE0:BYTE;
BYTE1:BYTE;
BYTE2:BYTE;
BYTE3:BYTE;
BYTE4:BYTE;
BYTE254:BYTE;
END_VAR
VAR
RCDATA:ARRAY[0..4095] OF BYTE; // Record data buffer
RCSIZE:UDINT; // Record data size
END_VAR
BEGIN
IF (#IDLE) THEN
// listen for asynchronous PLC write requests
#DATAREADY := WRITE_RECORD_PENDING(CN:=#CN,
HWID:=#HWID,
RCID:=#RCID,
RCSIZE=>#RCSIZE,
RCDATA=>#RCDATA);
#BYTE0 := #RCDATA[0];
#BYTE1 := #RCDATA[1];
#BYTE2 := #RCDATA[2];

#BYTE3 := #RCDATA[3];
#BYTE254 := #RCDATA[254];
ELSE
#DATAREADY := FALSE;
// ack it to the PLC
WRITE_RECORD_DONE(CN:=#CN,
HWID:=#HWID,
RCID:=#RCID,
RCSIZE:=#RCSIZE,
SCODE:=0);
END_IF;
END_FUNCTION_BLOCK

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Logic Resources

Logic Resources

A logic resource has no kinematics and does not require a graphic representation. Instead, the logic
resource contains a defined logical behavior derived from one or more specified inputs and outputs in
an equation or formula. For example, a logic resource can be used to describe the operation of an air
conditioning system. In this case, the logic resource activates the heating/cooling systems in response to
changes in its inputs (such as a thermostat) to bring the temperature to a predefined level. The resource
logic (the formula) is used to determine when to activate the air conditioner (outputs) and when to end its
operation. In this way, the logic resource uses its formula to connect between its inputs and outputs.

All logic resources must contain at least one entry value and/or exit value, and can contain any number
of parameters and constants. Expressions can be created that determine which exit value is triggered and
under which conditions.

A smart component is a component that has its own device controller and, upon receiving a signal,
can execute controlled behavior. To define a smart component, it is necessary to define the component's
kinematics, add the component to a resource, and define the desired logic and actions. The combined
resource and Logic Block now has logic, 3D representation, and kinematics. You can now open the
Resource Logic Behavior Editor and edit the logic. When editing a smart component, the Resource
Logic Behavior Editor displays the Actions tab which provides the following additional tools for editing
kinematics behavior: Move Joint, Move to Pose, Jump Joint, Joint Velocity Controlled, Joint Acceleration
Controlled, and Move Joint to Value.

The following figure and table describe the Resource Logic Behavior Editor which enables you to create
and modify the logic.

Note
• You must run the Set Modeling Scope command before configuring logic. If the object whose logic
you wish to configure is not open for modeling, most of the logic behavior parameters will be inactive
(read-only).

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 Logic Resources

Area Description
Tabs The Resource Logic Behavior Editor is composed
of the following tabs in which you can define
various logic components that comprise the logic
behavior.

• Overview - Enables you to display the major

logical components of the logic behavior. You
should design the overview in such a way that a
glance gives you a general idea of the logic.
• Entries - Lists all the entries to the logic behavior
element. The entry gates are used for attaching
signals entering the logic behavior.
• Exits - Lists all the exits from the logic behavior
element. The exit gates are used for attaching
signals exiting the logic behavior.

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Logic Resources

Area Description
• Parameters - Lists all the parameters in the
logic behavior element. These are evaluated
expressions used in other parameters and exits.
• Constants - Lists all the constants in the logic
behavior element. These are values used in
parameters and exits.
• Actions - Lists all the actions in the logic
behavior element. This tab enables you to
configure actions that act on joints, poses,
or grippers and is only available for smart
components.

The following tabs are available only for compound

instances:

• Internal Entry - Lists the entry gates for

importing values from a subcomponent of the
compound instance.
• Internal Exit - Lists the exit gates for exporting
values to a subcomponent of the compound
instance.

Each of these components can be one of the

following types:

• Boolean - Either True or False.

• Byte - A constant containing one byte of
information.
• Word - A constant containing two bytes of
information.
• DWord - A constant containing four bytes of
information.
• Integer - An integer containing two bytes of
information.
• Double integer - An integer containing four
bytes of information. You can define higher
values with a double integer, however this
consumes more memory.
• Real - Defines a specific real number.

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 Logic Resources

Area Description
• LReal - Defines a double-precision specific real
number.
Toolbar Enables you to Add records. Additional buttons
may be displayed depending on the selected tab.
Records Lists all the items nested under the selected tab.
Expanders Different expanders are displayed depending on
the selected tab and the selected record. When
you click expanders, they expand and display
information about the selected object, enabling
you to configure the settings of the various logic
components.

You can adjust the expanders' size by resizing

the window, dragging the separator above the
expanders or collapsing/expanding the expanders
as necessary. The open expanders share the
available space equally.
Buckets Each bucket icon enables you to display a list of
items in the bucket. You can drag and drop bucket
items to include them in the logic. The following
buckets are available:

Entries

Parameters

Constants

Functions

Internal Entries - Only available for

the logic behavior of a subcomponent (logic
behavior nested under an equipment instance).

Internal Exits - Only available for the logic

behavior of a subcomponent (logic behavior
nested under an equipment instance).

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Logic Resources

Area Description

Errors - This bucket is only available for the

logic of smart components.
! <Errors> This column is only displayed if there is an error.

Clicking enables you to add functions to your logic block.

For a list of available functions, refer to Logic Block Function List.

Note
You can create complex functions by nesting functions inside functions. For example:

SR(TON(SET,TimeDelay),TON(RESET,TimeDelaay))

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 Logic Resources

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Logic Behavior Commands

Logic Behavior Commands

The Logic Behavior option includes commands for creating and editing logic resources, connecting signals
and devices to logic resources, and exporting the logic behavior (LB) defined in a Logic Resource to a
Microsoft Excel file. The command also supports compound equipment instances comprised of multiple
devices each containing its own customized logic.

The Logic Behavior option includes the following commands, with corresponding buttons on the
Logic Behavior toolbar:

Button Suboption Description

Create Logic Block Enables you to create a new logic resource. Refer to Create Logic Block
(LB) (LB).
Add Logic to Enables you to create a Logic Resource for an existing resource. Refer to
Resource Add Logic Block to Resource.
Edit Logic Enables you to edit a logic resource. Refer to Edit Logic Resource.
Resource
Copy Logic Enables you to copy logic from a resource with logic to a resource
without logic. Refer to Import Logic to a Resource.
Connect Signals Enables you to attach a new logic resource to signals that enables it to
to LBs communicate with the rest of the cell. Refer to Connect Signals to Logic
Block.
Create LB Pose Enables you to select device poses for which to automatically create pose
Action and actions and sensors, entries and exits. Refer to Create LB Pose Action
Sensors and Sensors.
Connection Enables you to import a .XLS file and use the information it contains
Mapping to automatically create signals and connect them to entries and exits in
Logic Behavior elements. Refer to Perform connection mapping.
Export LB(s) to Enables you to export the logic behavior (LB) defined in a Logic Resource
Excel to a Microsoft Excel file. Refer to Export LB(s) to Excel.
Send to Signal Enables you to send the selected logic behavior(s) (LB) to the Signal
Monitoring Monitoring window. See Signal Monitoring.

Edit Logic Resource

This command enables you to change the names of entries and exits, but not parameters, constants, or
actions.

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 Procedure

1. Choose Control tab → Resource group → Edit Logic Resource .

The Resource Logic Behavior Editor dialog box appears.

Note
In order to edit a Logic Resource, the resource must be in modeling scope. For more information on
this topic, refer to Set Modeling Scope.

2. Modify the fields as required, see Create Logic Resource.

3. Click OK.The changes are saved and the Logic Behavior Editor dialog box closes.

This video demonstrates behavior modeling SCL.

Note
Videos are not included in PDF. To access videos, use HTML.

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Create Logic Resource

Create Logic Resource

Create Logic Block (LB)

A logic resource is a resource that has no 3D representation or kinematics behavior. Instead, it contains a
defined logic behavior with respect to the control system, derived from one or more specified inputs and
outputs in an equation or formula.

For example, a logical resource can be used to describe the operation of an air conditioning system, which
activates to change the temperature to a predefined level according to inputs it receives, such as current
readings from a thermostat. The logic resource contains the logic, that is the formula, used to determine
when to activate the air conditioner.

Logic resources can contain entry and exit values, as well as any number of parameters, and constants.
These must all have unique names. You can create expressions that determine which exit value is triggered
and under which conditions.

For instructions on how to add a Logic Resource to an existing resource, refer to Add Logic Block to
Resource.

For information on Time-Critical Logic Behaviors, see Time Critical Logic Behaviors.

This video demonstrates behavior modeling LB.

Note
Videos are not included in PDF. To access videos, use HTML.

Create a logic block

Procedure

1. Choose Control tab → Resource group → Create Logic Block (LB) .

The Resource Logic Behavior Editor dialog box appears with the Overview tab on top.

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 The entries and exits are arranged at the sides of the diagram and all the other elements are
displayed in expanding blocks in the center. Double-clicking any element opens the tab in which
that element is located and selects the element. If no elements are highlighted in the diagram, the
system displays the following message: Set LB elements as highlights in order to include them
in the overview. The lower area of the dialog box contains expanding sections relevant to the
currently-displayed tab and element.
2. Click the General section.

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 3. Edit the Name as required.
4. In theDescription field, write a summary of the logic.
5. Click the Settings section.

6. Configure the following parameters:

• Use action error parameters - Enables you to use error parameters created during simulation
in your expressions. Action error parameters are only available when editing the logic of smart
components. The following error parameters are available:
◦ <action name>_internal_conflict
◦ <action name>_external_conflict
• Time critical - Defines whether the logic behavior actions are time critical or not.
• Units - Enables you to configure the following types of units for the logic behavior (irrespective of
the settings in Units tab.
◦ Linear - Select one of the following: mm, cm, m, inch, or ft. Reset to Global reverts to the units
set in Units tab.

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 ◦ Angular - Select one of the following: rad or deg. Reset to Global reverts to the units set in
Units tab.

Note
The units settings apply only to the current device and override the current system defaults as
configured in Units tab. The current system default units remain applicable to all other objects.

7. Click the Entries tab to display the entries defined for the logic behavior.

Proceed as follows:
a. In the * (Highlight) column, click the star for each entry you wish to appear in the Overview.
b. You can do any of the following:
• To add an entry, click Add and select the entry type.

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 • Click Create Signal to automatically create a signal and connect it to the selected entry.
• To remove an entry, select the entry and click Delete or press the <Del> key..

Note
You can attach more than one signal to Boolean entries but only one signal to numerical
entries.

c. Click the General section to display a list of all the signals connected to the selected entry.

You can do the following:

• To add signals, click the Connected Signals list and pick signals in the Signal Viewer.
If you are configuring the logic of a subcomponent, you can connect an internal exit of the

parent compound. Click Internal Exits and drag and drop an internal exit from the
bucket to the list.

Note
The parent compound must be open for modeling, see Set Modeling Scope.

• To delete the selected signal, press the <Del> key.

• Select an entry and compose its Description.

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 This appears in the Description column of the Entries tab.
8. Click the Exits tab to display the exits defined for the logic behavior.

Proceed as follows:
a. In the Highlight column, click the star for each exit you wish to appear in the Overview.
b. You can do any of the following:
• To add an exit, click Add and select the exit type.

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 • Click Create Signal to automatically create a signal and connect it to the selected exit.
• To remove an exit, select the exit and click Delete.
• Select an exit and compose its Description.

Note
Any signal can only be connected to a single exit.

c. Expand the General section to display a list of all the signals connected to the selected exit.

You can do the following:

• To add signals, click the Connected Signals list and pick signals in the Signal Viewer.

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 If you are configuring the logic of a subcomponent, you can connect an internal entry of the

parent compound. Click Internal Entries and drag and drop an internal entry from the
bucket to the list.

Note
The parent compound must be open for modeling, see Set Modeling Scope.

• To delete the selected signal, press the <Del> key.

• Select an exit and compose its Description.

• Click to send the exit to the Signal Monitoring window. See Signal Monitoring.
d. Compose expressions for the If Condition, the Value Expression, and/or the Delay Exit

sections. Expressions can be composed of the entries , constants , parameters

in the logic behavior element, and functions of entries and parameters.

The exit occurs only if:

• The If Condition is fulfilled.
• The Delay Exit time delay specified in the Delay Exit section has passed without a reset. The
time delay is defined, if required, by selecting the Delay Exit option and setting the time delay
(in seconds).
• For a list of available functions, refer to Logic Block Function List.
• You can create complex functions by nesting functions inside functions. For example:

SR(TON(SET,TimeDelay),TON(RESET,TimeDelaay))

Use any of the following methods to compose the expression:

• Type a freehand expression.

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 • As soon as you type a character, Process Simulate opens a list box with suggestions to
complete the character into a legal word. The list contains all operators, signals, constants,
etc. that are in context. Select the appropriate item.

• Press <ctrl> + <space> to open the complete list without typing anything.
• Copy/paste text from other sources.
• Open one of the buckets and double-click or drag and drop the desired element into the
expression. You can type text in the Filter field to narrow down the choice.

Note
• The expression editor also supports Undo and Redo.

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 • If, during the current editing session, the expression is not valid, the system underlines
invalid words in red and marks the element with an icon in the Status column.
• It is not possible to apply the changes until you have resolved all the syntax problems.

e. If you have defined an exit of the Boolean type, the system displays a Delay Exit expander.
This enables you to set a Delay exit specifying the delay time and configure a logical expression
for Abort delay and reset exit condition.

9. Click the Parameters tab to display the parameters defined for the logic behavior.

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 Proceed as follows:
a. In the Highlight column, click the star for each parameter you wish to appear in the Overview.
b. Optionally, click Add or Delete to add or remove parameters. You can add parameters of the
following types: Bool, Byte, Word, DWord, Int, DInt, or Real.

Note
The following parameter types are only available for smart components: Joint Value Sensor
and Joint Distance Sensor.

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 c. If you are editing the logic of a compound equipment, you can click Add Internal Entry/Exit or
Delete to add or remove internal entries/exits. These act as gates for importing/exporting values
from/to subcomponents of the compound instance. Configure the Index (evaluation order) for
the internal exit.

Note
Internal entries do not have expressions and are not dependent on any parameters. Therefore,
internal entries are always evaluated first.

d. Set the Index for each parameter. This controls the order of evaluation.

Note
The Index values must start from 1 and be consecutive. If you make a mistake, the system
forces a correct series of index values.

e. Click the Description section and type a description of the selected parameter.
f. If you are editing the logic of a smart component, selecting the parameter type Joint Value
Sensor enables the Definitions section.

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 Proceed as follows:
i. Configure the Sensor Type:
• Pose - Select the pose you wish to configure.
• Joint - Select the joint you wish to configure.
ii. Configure the sensor Type:

Option Name Description

Pulse The sensor emits a signal when the joint value is identical to
the sensor value.
Range The sensor emits a signal if the joint value is between the
From and To values configured for the sensor. This is the
default setting.
Step From The sensor emits a signal if the joint value is the same as or
higher than the From value configured for the sensor.
Step To The sensor emits a signal if the joint value is the same as or
lower than the To value configured for the sensor.

iii. In the Sensor Tolerance area, configure the From and To tolerance values.
The default values are -2 and 2 respectively.

iv. Click if you wish to send the parameter to the Signal Monitoring window.
See Signal Monitoring.
g. If you are adding a Position Sensor parameter, proceed as follows:

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 i. Optionally, type a meaningful Description of the sensor.
ii. In the Check Interference With list, pick the Objects you wish the sensor to detect.
iii. In the Detection properties area, set the Sensor tolerance to the distance at which you
wish to detect the Objects.
For example, if the position sensor's parent logic block is attached to a gripper and you have
set the sensor to detect a specific part, then when that part is within the Sensor tolerance, the
sensor is ON, otherwise the sensor is OFF.
Since position sensors are parameters that are part of the LB resource, they are propagated
to instances created from a prototype. You can use modeling to modify the Sensor tolerance
setting in the instance. On the other hand, the Objects list is not a position sensor property, and
is not replicated from prototype to instances.
Position sensors detect SELF TO SELF (from the self of the component/LB to the self of the
desired component).

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 Note
Unlike other logic block parameter sensors, position sensors do not require joint values (since
their function does not rely on kinematic behavior).

The following video describes how to create a position sensor.

Note
Videos are not included in PDF. To access videos, use HTML.

10. Click the Constants tab.

Proceed as follows:
a. In the Highlight column, click the star for each constant you wish to appear in the Overview.
b. Optionally, click Add or Delete to add or remove constants.
c. Set the Value for each constant, as follows:

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 • Boolean - Check (True) or clear (False) the checkbox.
• Numerical - Use the up and down arrows to set the numerical value (in increments of 1) or
type a value.
d. Click the Description section and type a description of the selected constant.
11. Click the Actions tab.
This tab is only available for smart components (these possess their own kinematics).

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 Proceed as follows:
a. Optionally, click Add to add actions.
The following actions are available:
• Move Joint — From the Joint dropdown list, select the desired joint and create a Value
Expression and Velocity Expression.
• Move To Pose — From the Pose dropdown list, select the joint you wish to move and create a
Value Expression and Velocity Expression.

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 Note
The units of velocity are millimeters per second for linear joints or radians per second for
revolving joints.

• Jump Joint — From the Joint dropdown list, select the desired pose and create a Value
Expression and Velocity Expression.
• Joint Velocity Controlled — During a simulation, this action accelerates or decelerates the
selected joint to the defined velocity. This velocity is maintained for the duration of the action
and as long as the target velocity has not changed. From the Joint dropdown list, select the
desired joint and create the following expressions:
◦ Value Expression — A Boolean expression. When the expression evaluates to True, the
action is initiated. When it evaluates to False, the action is not initiated or terminates if it is
already initiated.
◦ Target Velocity Expression — A numeric expression that defines the joint target velocity.
When the expression is positive the target velocity is positive. When it is negative, the
target velocity is negative.
◦ Acceleration Expression — A numeric expression that defines the joint target acceleration.
This expression must always evaluate to a positive value. If it evaluates to a negative value,
the simulation behavior remains undefined.
◦ Deceleration Expression — A numeric expression that defines the joint target
deceleration. This expression must always evaluate to a positive value. If it evaluates to
a negative value, the simulation behavior remains undefined.

Note
If you load a logic behavior resource and the Joint parameter is missing from the Joint
Velocity Controlled action (there are certain types of studies where it may have been
deleted), the action is not loaded and the system issues a warning message.

• Joint Acceleration Controlled — During a simulation, this action calculates the difference
between the defined acceleration and deceleration expressions. If the difference is positive,
the action accelerates the selected joint to the calculated value. If the difference is negative,
the action decelerates the selected joint. From the Joint dropdown list, select the desired joint
and create the following expressions:
◦ Value Expression — A Boolean expression. When the expression evaluates to True, the
action is initiated. When it evaluates to False, the action is not initiated or terminates if it is
already initiated.
◦ Target Velocity Direction Expression — A Boolean expression that defines the joint
direction of motion. When the expression evaluates to true, the velocity is positive. When it
evaluates to false, the velocity is negative.

Note
This expression defines only the joint direction of motion but not its velocity.

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 ◦ Acceleration Expression — A numeric expression that defines the joint target acceleration.
This expression must always evaluate to a positive value. If it evaluates to a negative value,
the simulation behavior remains undefined.
◦ Deceleration Expression — A numeric expression that defines the joint target
deceleration. This expression must always evaluate to a positive value. If it evaluates to
a negative value, the simulation behavior remains undefined.

Note
If you load a logic behavior resource and the Joint parameter is missing from the Joint
Acceleration Controlled action (there are certain types of studies where it may have been
deleted), the action is not loaded and the system issues a warning message.

• Move Joint to Value — This action moves a specified joint to a predefined target joint value.
The target joint value is provided as an expression (Joint Value Expression). The action also
allows users to specify the velocity of the joint as well as the acceleration/deceleration when
starting or stopping the joint movement. These values are also provided as expressions. The
value expression is used as a trigger to move the joint. You can use this action for the same
joint multiple times.
• Grip — From the Frame dropdown list, select the desired gripper frame and create a Value
Expression. The Value Expression is a Boolean expression. When the expression evaluates to
True, the action is initiated. When it evaluates to False, the action is not initiated or terminates
if it is already initiated.
• Release — From the Frame dropdown list, select the desired gripper frame and create
a Value Expression. The Value Expression is a Boolean expression. When the expression
evaluates to True, the action is initiated. When it evaluates to False, the action is not initiated
or terminates if it is already initiated.

b. Click if you wish to send the action to the Signal Monitoring window.
See Signal Monitoring.
c. To remove an action, select the action and click Delete.
d. In the Apply To field, select the object on which to apply the action.
e. Click the Description section and type a description of the selected action.
12. If you wish to define a password for the logic block, click the Password Protection section.

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 Logic Block Function List

Enter a Password, fill out the Confirm Password field, and click Set Password.

Note
• Setting a password enables you to hide the complex logic of the logic block to protect your
intellectual property (IP). After supplying a password, the file in which the logic block is stored is
encrypted (after running End Modeling).
• The password must contain at least six characters.
• After accessing a logic block, it remains open until the session ends - the password is not
required again.
• When protected by a password, the logic block Overview tab is visible and the logic block
remains active (can be used). However, you cannot switch to other tabs such parameters, view
internal building blocks such as actions, or make any changes.

13. After defining the logic resource, click OK.

Logic Block Function List

When creating logic block expressions, clicking enables you to add functions.

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Logic Block Function List

The following table lists the available logic block functions:

Output
Parameter
Category Name Input Parameters Type Type Description
Boolean FE INPUT[BOOL] Bool Bool Triggers a response when
the input parameter
Falling Edge changes from TRUE to
FALSE
Boolean RE INPUT[BOOL] Bool Bool Triggers a response when
the input parameter
Rising Edge changes from FALSE to
TRUE
Boolean SR INPUT[BOOL]X Bool Bool Maintains a signal in
a triggered position. If
Set Reset INPUT[BOOL]Y Bool both parameters are false
and the set parameter
(X) turns to TRUE, SR
turns to TRUE. If the set
parameter then changes
to FALSE, SR remains TRUE
until the reset parameter,
Y, turns to TRUE. Then,
SR turns to FALSE. If
the reset parameter then

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 Logic Block Function List

Output
Parameter
Category Name Input Parameters Type Type Description
turns to FALSE, SR remains
FALSE. SR is defined as
TRUE when both input
parameters turn to TRUE.

* See table below

Boolean RS INPUT[BOOL]X Bool Bool Behaves as SR except
that RS is defined as
Reset Set INPUT[BOOL]Y Bool FALSE when both input
parameters turn to TRUE
Counter CTD COUNT_DOWN[BOOL] Bool Bool Signals when the
number of COUNT_DOWN
Counter Down RESET[BOOL] Bool activations has reached
zero, starting from
START_VALUE[INT] Int START_VALUE

Counter CTU COUNT_UP[BOOL] Bool Bool Signals when the

number of COUNT_UP
Counter Up RESET[BOOL] Bool activations has reached
TARGET_VALUE
TARGET_VALUE[INT] Int
Counter CTUD COUNT_UP[BOOL] Bool Bool Signals when the
number of COUNT_UP
Counter Up COUNT_DOWN[BOOL] Bool activations has reached
and Down TARGET_VALUE, starting
LOAD[BOOL] Bool from START_VALUE. Or
when the number of
COUNT_DOWN activations
START_VALUE[INT] Int
has reached zero, starting
from START_VALUE
TARGET_VALUE[INT] Int
Material Flow Destroy RANGE[INT] Int Bool Destroys all appearances
Appearance in Range of the LB's Self
Frame
Material Flow Destroy X [REAL] Real Bool Destroys all appearances
Appearance in Range of location XYZ
AtLocation Y [REAL] Real

Z [REAL] Real

RANGE[INT] Int

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Logic Block Function List

Output
Parameter
Category Name Input Parameters Type Type Description
Math ABS NUM [REAL] Real Real Triggers a response when
the input parameter
changes from FALSE to
TRUE and returns the
absolute value of Num.
Math BitwiseByte SIZE_IN_BYTES [DINT] Dint Dword Returns the signal with
Swap bytes swapped from little
SIGNAL [DWORD] Dword endian to big endian

Math BitwiseIsBitOn SIZE_IN_BYTES [DINT] Dint Bool Returns TRUE if the bit at
bitIndex is toggled on in
SIGNAL [DWORD] Dword the signal

BIT_INDEX [DINT] Dint

Math BitwiseReverse SIZE_IN_BYTES [DINT] Dint Dword BitwiseReverse - Returns
the signal with bits
SIGNAL [DWORD] Dword reversed from least
significant bit (LSB) to
most significant bit (MSB)
Math IntModulo IN1[DINT] Dint Dint Returns the remainder
(Modulo) after dividing
IN2[DINT] Dint two integers

Math MAX IN1[REAL] Real Real Maximum

IN2[REAL] Real
Math MIN IN1[REAL] Real Real Minimum

IN2[REAL] Real
Math RANDOM MIN[DINT] Dint Dint Returns a random number
between Min and Max.
MAX[DINT] Dint when one of the input
parameters changes from
FALSE to TRUE
Math RealModulo IN1[REAL] Real Real Returns the remainder
(Modulo) after dividing
IN2[REAL] Real two real numbers

Math ROUND IN [REAL] Real Real Rounds the number

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 Logic Block Function List

Output
Parameter
Category Name Input Parameters Type Type Description
Math RoundDown IN [REAL] Real Real Returns the greatest
integer that is less than or
equal to IN
Math RoundUp IN [REAL] Real Real Returns the nearest
integer up (the least
integer that is greater
than or equal to IN)
Math SQRT IN [REAL] Real Real Square root (base 2)
Timer GetSimulation Real Get simulation time
Time
Timer StopWatch Bool Real A simulation stop watch
START[BOOL] - each activation of STOP
Bool returns elapsed time since
STOP[BOOL] START signal
Bool
Timer TOF START[BOOL] Bool Bool Generate off-delay - delay
resetting of the output by
OFF_DELAY_TIME Real theOFF_DELAY_TIME
[REAL]
Timer TON START[BOOL] Bool Bool Generate on-delay -
activates the output after
ON_DELAY_TIME Real the ON_DELAY_TIME
[REAL]
Timer TP START[BOOL] Bool Bool Generate pulse - enabling
START triggers a pulse
DURATION[REAL] Real with set DURATION time

Trigonometry ACOS COSINE[REAL] Real Real Arc cosine (the angle of

the passed Cosine)
Trigonometry ASIN SINE[REAL] Real Real Arc sine (the angle of the
passed Sine)
Trigonometry ATAN TANGENT[REAL] Real Real Arc tangent (the angle of
the passed Tangent)
Trigonometry COS RADIANS[REAL] Real Real Cosine
Trigonometry SIN RADIANS[REAL] Real Real Sine

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Verify if a resource has a logic behavior element

Output
Parameter
Category Name Input Parameters Type Type Description
Trigonometry PI Real Returns the ration of a
circle's circumference to
its radius
Trigonometry TAN RADIANS[REAL] Real Real Tangent

* The following table illustrates the behavior of the SR function throughout a sequence of state changes.

State Description Parameter X Parameter Y SR (X,Y)

1 Initial position. FALSE FALSE FALSE
2 Set State. Set parameter turns to TRUE. TRUE FALSE TRUE
3 Set parameter turns to FALSE. The signal remains in the FALSE FALSE TRUE
triggered position.
4 Reset State. Reset parameter turns to TRUE. The signal is FALSE TRUE FALSE
released from the triggered position.
5 Reset parameter turns to FALSE. FALSE FALSE FALSE

Note
You can create complex functions by nesting functions inside functions. For example:

SR(TON(SET,TimeDelay),TON(RESET,TimeDelaay))

Verify if a resource has a logic behavior element

• Select a resource in the Object Viewer and verify that the LB Simulate field is displayed. If this field is
checked, the selected resource has a logic behavior element.

Time-Critical Logic Behaviors

As part of Virtual Commissioning done with Process Simulate, it is necessary to perform a simulation using
actual PLC hardware. For example, a proxy OPC Server connects Process Simulate to real PLC hardware.

However, this hardware is usually a real-time component, i.e., with real-time requirements, such as
maximal reaction time, from any client connecting to it.

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 Time-Critical Logic Behaviors

The reaction time of a signal is defined as the round-trip time from the moment the signal's value is
changed in the PLC, until the PLC hardware receives the signal evaluation result. The signal passes through
the following components:
PLC Hardware → OPC Server → Process Simulate → OPC Server → PLC Hardware.

Some signals are time-critical (reaction time must occur within a tight time-frame), for example, a fail-safe
mechanism that requires a robotic device. The device connected to the PLC must react within a short
time-frame (for example, 200 mSec), otherwise the PLC switches to an emergency procedure.

A solution to the limitations is Time-Critical Logic Behaviors which are Logic Resources with the following
properties:

• Evaluation of Time-Critical Logic Behaviors is performed faster than for the rest of PLC logic and is done
in parallel to other calculations in Process Simulate (kinematics, graphics, etc.).
• Time-critical signals are connected only to Time-Critical Logic Behaviors and are communicated to the
OPC server more quickly, and in parallel to the other calculations.

This solution also poses some restrictions on the PLC data model in Process Simulate:

• A Time-Critical Logic Behavior may not be connected either directly or indirectly to another Logic
Behavior which is not defined as Time-Critical. This is due to an issue with synchronization: Regular Logic
Behaviors, normally evaluated serially, would be evaluated in parallel to Time-Critical Logic Behaviors
which may cause race conditions / data access violations.
• Time-Critical Logic Behaviors may only be connected to simple Input or Output signals. This excludes all
resource signal types: Sensor signals, Move to pose / In direction signals and others. Resource signals
may not be used since their values are affected by actions that occur during the simulation — pose
changes, sensors triggered, etc.
• Time-Critical Logic Behavior must be a simple Logic Resource, not a smart component.

A Time-Critical Logic Behavior with illegal connections causes Process Simulate to display a warning at the
end of the simulation, and the Logic Behavior is simulated with regular priority.

To define a Time-Critical Logic Behavior:

• Check the Time Critical checkbox to define a Logic Behavior element as a Time-Critical Logic Behavior
element (by default the option is not activated).

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User-Defined Functions

Note
The Time Critical value is persisted for Logic Behavior instances for which it was activated.

User-Defined Functions

Advanced Function Definition

You can define functions to include in the Function menu of the Resource Logic Behavior Editor dialog.
Defining functions is an advanced feature requiring programming skills. Examples of code are provided
below to serve as templates for creating new functions. A table is included with each example, describing
the elements of the code. Each table indicates which portions of the example code you modify to create a
new user-defined function and which portions of the code remain unchanged.

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 Create a new user-defined function

Create a new user-defined function

Procedure

1. Using one of the function examples provided below as a template, create a new file for defining the
new function.
2. Modify the code in the new file according to the requirements of the new function.
3. Compile the code into a .dll file.
4. Copy the .dll file to the UserLBFunc directory in the installation path.

Example User-Defined Function: C-Sharp (C#)

The following example, written in C#, implements a function that performs an arithmetic average of two
numbers that it receives as input.

using System;
using System.Collections;
namespace Tecnomatix.Engineering
{
[TxPlcLogicBehaviorFunctionAttribute("AverageCS")]
[TxPlcLogicBehaviorFunctionDescription ("Performs an arithmetic average of
two numbers that it receives as input")]
public class Average : ITxPlcLogicBehaviorFunction

{
private ArrayList m_typesArray = new ArrayList();
private ArrayList m_namesArray = new ArrayList();
private TxPlcSignalDataType m_returnValueType;
// Constructor
public Average()
{
m_typesArray.Add(TxPlcSignalDataType.Real);
m_typesArray.Add(TxPlcSignalDataType.Real);
m_namesArray.Add("X");
m_namesArray.Add("Y");
` m_returnValueType = TxPlcSignalDataType.Real;
}
// Returns an array containing the function's parameter types
public ArrayList ParametersTypes()
{
return m_typesArray;
}
// Returns an array containing the function's parameter names
public ArrayList ParametersNames()
{
return m_namesArray;
}

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Example User-Defined Function: C-Sharp (C#)

// Returns the type of the function's return value

public TxPlcSignalDataType ReturnValueType()
{
return m_returnValueType;
}
// Evaluates the function
public TxPlcValue Evaluate(ArrayList parameters)
{
TxPlcValue plcVal1 = (TxPlcValue)parameters[0];
TxPlcValue plcVal2 = (TxPlcValue)parameters[1];
float realVal1 = plcVal1.RealValue;
float realVal2 = plcVal2.RealValue;
TxPlcValue newVal = new TxPlcValue();
float newRealVal = (realVal1 + realVal2) / 2;
newVal.RealValue = newRealVal;
return newVal;
}
}
}

The following table describes the elements of the C# user-defined function code. The Modify/
Do not modify column indicates which code elements you should modify to create a new user function.

Modify /
Do not
Element Code modify Description
Header TxPlcLogic Do not Indicates the attribute class associated with the
Behavior modify user-defined class. The attribute is initialized
Function with the function name.
Attribute
"AverageCS" Modify Specifies the name of the function as it will
appear in the Function menu of the Resource
Logic Behavior Editor dialog.
"Performs an Modify Specifies the description of the function as
arithmetic it appears in the function’s tool tip in the
average of Resource Logic Behavior Editor dialog. If no
two numbers description is provided, the tooltip notifies that
that it the description is missing.
receives as
input"

ITxPlcLogic Do not Indicates the interface that this class

Behavior modify implements.
Function

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 Example User-Defined Function: C-Sharp (C#)

Modify /
Do not
Element Code modify Description
Member private ArrayList Do not Specifies an array containing the types of the
m_typesArray = modify function input parameters (for example, BOOL
new ArrayList(); or INT).
Member private ArrayList Do not Specifies an array containing the names of the
m_namesArray = modify function input parameters as they will appear
new ArrayList(); in the Function menu in the Resource Logic
Behavior Editor dialog.
Member private Do not Specifies the type of the function's return value
TxPlcSignal modify (for example, BOOL or INT).
DataType
m_return
ValueType;
Constructor m_typesArray Modify Initializes the members of the class according
.Add(TxPlcSignal to the requirements of the function.
DataType.
Real); Add to m_typesArray the required types of
the function input parameters.
m_typesArray
.Add(TxPlcSignal Add to m_namesArray the required names of
DataType. the function input parameters.
Real);
Configure m_returnValueType to the
m_names required return value type.
Array.Add
("X");

m_names
Array.Add
("Y");

m_returnValue
Type =
TxPlcSigna
lDataType.
Real;
Functions return Do not The tree functions that return the three
m_typesArray; modify members of this class.

return
m_namesArray;

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Example User-Defined Function: C-Sharp (C#)

Modify /
Do not
Element Code modify Description
return
m_returnValue
Type;
Evaluation TxPlcValue Modify Implements the evaluation according to the
Function plcVal1 = requirements of the function. This portion of
(TxPlcValue the code performs the following tasks:
)parameters
[0]; • Converts the array of parameters to
TxPlcValue types.
TxPlcValue
• Converts each TxPlcValue to a basic type
plcVal2 =
value.
(TxPlcValue)
parameters • Performs the function.
[1];
• Creates a new TxPlcValue.
• Sets the TxPlcValue to the function's return
value.
float realVal1 = • Returns the TxPlcValue, containing the
plcVal1.Real function's return value.
Value;

float realVal2 =
plcVal2.Real
Value;

TxPlcValue newVal
= new
TxPlcValue();

float newRealVal
= (realVal1 +
realVal2) / 2;

newVal.Real
Value =
newRealVal;

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 User-Defined Function with Invoking Resource Parameter: C-Sharp (C#)

Modify /
Do not
Element Code modify Description

return newVal;

User-Defined Function with Invoking Resource Parameter: C-Sharp (C#)

The following example, written in C#, implements a function that returns True if invoked by a robot's logic
behavior. Otherwise, it returns False.

using System;
using System.Collections;
namespace Tecnomatix.Engineering
{
[TxPlcLogicBehaviorFunctionAttribute("IsRobotResource")]

[TxPlcLogicBehaviorFunctionDescription ("Function returns True if

invoked by a robot's logic behavior. Otherwise, it return s False.")]
public class IsRobotResource :
ITxPlcLogicBehaviorInvokingResourceFunction
{
private ArrayList m_typesArray = new ArrayList();
private ArrayList m_namesArray = new ArrayList();
private TxPlcSignalDataType m_returnValueType;

// Constructor
public IsRobotResource()
{
//set a Boolean return value type
m_returnValueType = TxPlcSignalDataType.Bool;
}

// Returns an array containing the function's parameter types

//(empty array as this is a function without parameters)
public ArrayList ParametersTypes()
{
return m_typesArray;
}

// Returns an array containing the function's parameter names

//(empty array as this is a function without parameters)
public ArrayList ParametersNames()
{
return m_namesArray;
}

// Returns the type of the function's return value

public TxPlcSignalDataType ReturnValueType()

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User-Defined Function with Invoking Resource Parameter: C-Sharp (C#)

{
return m_returnValueType;
}
// Evaluates the function
public TxPlcValue Evaluate(ArrayList parameters, ITxObject
invokingResource)
{
TxPlcValue newVal = new TxPlcValue();
//return true if invokingResource is a robot, or false otherwise
newVal.BooleanValue = invokingResource is TxRobot;

return newVal;
}
}
}

The following table describes the elements of the C# user-defined function code. The Modify/
Do not modify column indicates which code elements you should modify to create a new user function.

Modify /
Do not
Element Code modify Description
Header TxPlcLogic Do not Indicates the attribute class associated
Behavior modify with the user-defined class. The
Function attribute is initialized with the
Attribute function name.
"IsRobot Modify Specifies the name of the function as
Resource" it will appear in the Function menu of
the Resource Logic Behavior Editor
dialog.
"Function Modify Specifies the description of the
returns True function as it appears in the function’s
if invoked tool tip in the Resource Logic Behavior
by a robot's Editor dialog. If no description is
logic behavior. provided, the tooltip notifies that the
Otherwise, it description is missing.
returns False."

ITxPlcLogic Do not Indicates the interface that this class

Behavior modify implements. This is a specific interface
Invoking which includes the resource which
Resource invoked the function as a parameter of
Function the evaluation function.

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 User-Defined Function with Invoking Resource Parameter: C-Sharp (C#)

Modify /
Do not
Element Code modify Description
Member private ArrayList Do not Specifies an array containing the types
m_typesArray = new modify of the function input parameters (for
ArrayList(); example, BOOL or INT).
Member private ArrayList Do not Specifies an array containing the
m_namesArray = new modify names of the function input
ArrayList(); parameters as they will appear in the
Function menu in the Resource Logic
Behavior Editor dialog.
Member private Do not Specifies the type of the function's
TxPlcSignal modify return value (for example, BOOL or
DataType INT).
m_returnValue
Type;
Constructor m_returnValueType Modify Initializes the members of the class
= TxPlcSignalData according to the requirements of the
Type.Real; function.

Configure m_returnValueType to
the required return value type.
Functions return Do not The tree functions that return the
m_typesArray; modify three members of this class.

return
m_namesArray;

return
m_returnValueType;
Evaluation TxPlcValue newVal = Modify Implements the evaluation according
Function new TxPlcValue (); to the requirements of the function.
This portion of the code performs the
newVal.Boolean following functions:
Value =
invokingResource is • Creates a new TxPlcValue.
TxRobot();
• Sets the TxPlcValue value to be True
if the invokingResource parameter is
return newVal; a robot. Otherwise, sets it to False.
• Returns the TxPlcValue containing
the function's return value.

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Example User-Defined Function: Visual Basic

Example User-Defined Function: Visual Basic

The following example, written in Visual Basic, implements a function that performs an arithmetic average
of two numbers that it receives as input.

Imports Tecnomatix.Engineering
Imports System.Type
<TxPlcLogicBehaviorFunctionAttribute("Average")>
<TxPlcLogicBehaviorFunctionDescription ("Performs an arithmetic average of
two numbers that it receives as input")>
Public Class Average Implements ITxPlcLogicBehaviorFunction
Dim m_typesArray As New ArrayList
Dim m_namesArray As New ArrayList
Dim m_returnValueType As TxPlcSignalDataType
'Constructor
Public Sub New()
m_typesArray.Add(TxPlcSignalDataType.Real)
m_typesArray.Add(TxPlcSignalDataType.Real)
m_namesArray.Add("X")
m_namesArray.Add("Y")
m_returnValueType = TxPlcSignalDataType.Real
End Sub
'Returns an array containing the function's parameter types
Public Function ParametersTypes() As ArrayList Implements
ITxPlcLogicBehaviorFunction.ParametersTypes
Return m_typesArray
End Function
'Returns an array containing the function's parameter names
Public Function ParametersNames() As ArrayList Implements
ITxPlcLogicBehaviorFunction.ParametersNames
Return m_namesArray
End Function
'Returns the type of the function's return value
Public Function ReturnValueType() As TxPlcSignalDataType Implements
ITxPlcLogicBehaviorFunction.ReturnValueType
Return m_returnValueType
End Function
'Evaluates the function
Public Function Evaluate(ByVal parameters As ArrayList) As
TxPlcValue Implements ITxPlcLogicBehaviorFunction.Evaluate
Dim plcVal1 As TxPlcValue = parameters.Item(0)
Dim plcVal2 As TxPlcValue = parameters.Item(1)
Dim realVal1 As Double = plcVal1.RealValue()
Dim realVal2 As Double = plcVal2.RealValue()
Dim newVal As New TxPlcValue
Dim newRealVal As Double = (realVal1 + realVal2) / 2
newVal.RealValue = newRealVal
Return newVal
End Function
End Class

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 Example User-Defined Function: Visual Basic

The following table describes the elements of the Visual Basic user-defined function code. The Modify/
Do not modify column indicates which code elements you should modify to create a new user function.

Modify /
Do not
Element Code modify Description
Header TxPlcLogic Do not Indicates the attribute class associated with the
Behavior modify user-defined class. The attribute is initialized
Function with the function name.
Attribute
"Average" Modify Specifies the name of the function as it will
appear in the Function menu of the Resource
Logic Behavior Editor dialog.
"Performs Modify Specifies the description of the function as
an it appears in the function’s tool tip in the
arithmetic Resource Logic Behavior Editor dialog. If no
average of description is provided, the tooltip notifies that
two the description is missing.
numbers
that it
receives
as input"

ITxPlcLogi Do not Indicates the interface that this class

c modify implements.
Behavior
Function
Member Dim m_types Do not Specifies an array containing the types of the
Array As New Array modify function input parameters (for example, BOOL
List or INT).

Member Dim m_names Do not Specifies an array containing the names of the
Array As New Array modify function input parameters as they will appear
List in the Function menu in the Resource Logic
Behavior Editor dialog.
Member Dim m_return Do not Specifies the type of the function's return value
Value modify (for example, BOOL or INT).
Type As TxPlc
Signal
DataType
Constructo m_typesArray. Modify Initializes the members of the class according
r Add(TxPlcSignalData to the requirements of the function.

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Example User-Defined Function: Visual Basic

Modify /
Do not
Element Code modify Description
Add to m_typesArray the required types of
Type.Real) the function input parameters.

m_typesArray. Add to m_namesArray the required names of

Add(TxPlcSignalData the function input parameters.

Type.Real) Configure m_returnValueType to the

required return value type.
m_namesArray.
Add("X")

m_namesArray.
Add("Y")

m_returnValue
Type = TxPlcSignal
Data
Type.Real
Functions return m_types Do not The tree functions that return the three
Array modify members of this class.

return m_namesArray

return m_return
ValueType
Evaluation Dim plcVal1 As Modify Implements the evaluation according to the
Function TxPlcValue = requirements of the function. This portion of
parameters the code performs the following functions:
.Item(0)
• Converts the array of parameters to
Dim plcVal2 As TxPlcValue types.
TxPlcValue =
• Converts each TxPlcValue to a basic type
parameters
value.
.Item(1)
• Performs the function.
• Creates a new TxPlcValue.

Dim realVal1 As • Sets the TxPlcValue to the function's return

Double = plcVal1. value.
RealValue() • Returns the TxPlcValue, containing the
function's return value.

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 Category Attribute

Modify /
Do not
Element Code modify Description
Dim realVal2 As
Double = plcVal2.
RealValue()

Dim newVal As New

TxPlcValue

Dim newRealVal As
Double = (realVal1
+ realVal2) / 2

newVal.Real
Value = newRealVal

return newVal

Category Attribute

All user functions are associated with a user function category (refer to Function List), for example math
or materiel flow. The TxPlcLogicBehaviorFunctionCategory function enables you to specify the category
with which to associate your user function.

Example C# usage:

[TxPlcLogicBehaviorFunctionCategory("Math")]
[TxPlcLogicBehaviorFunctionAttribute("SQRT")]
[TxPlcLogicBehaviorFunctionDescription("Square root (base 2)
\r\n(REAL:IN) => (REAL:OUT)")]
public class CApPlcUserFuncMathSqrt : ITxPlcLogicBehaviorFunction
{
...
}

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Multi Instance User Interface

Example Visual Basic usage:

<TxPlcLogicBehaviorFunctionCategory("Math")>
<TxPlcLogicBehaviorFunctionAttribute("SQRT")>
<TxPlcLogicBehaviorFunctionDescription("Square root (base 2)
\r\n(REAL:IN) => (REAL:OUT)")>
Class CApPlcUserFuncMathSqrt Implements ITxPlcLogicBehaviorFunction

If the TxPlcLogicBehaviorFunctionCategory function is omitted, the user functions are associated with the
Undefined User Functions default category.

Multi Instance User Interface

You can use the ITxPlcLogicBehaviorFunctionMultiInstance interface for a user-defined Logic Behavior
function, for example, when you need new instance per function usage. You must use this interface when
you have internal members that are updated on each evaluate cycle.

In the following example the internal member former_start is updated every cycle and used in the next.
This requires a different instance for each user function.

[TxPlcLogicBehaviorFunctionCategory("Category")]
[TxPlcLogicBehaviorFunctionAttribute("Name")]
[TxPlcLogicBehaviorFunctionDescription("Description")]
public class ClassName : ITxPlcLogicBehaviorFunction,
ITxPlcLogicBehaviorFunctionMultiInstance
{
public ClassName ()
public class ClassName
{
// Constructor
...
}
// internal member for the class
private bool former_start;
public TxPlcValue Evaluate(ArrayList parameters)
{
...
// Calculating rising edge
bool start_re = start.BooleanValue && !former_start;
if (start_re)
{
...
}
// Keep the previous value of one of the input parameters
former_start = start.BooleanValue;
...
}
}

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 Add Logic to Resource

Add Logic to Resource

The Add Logic to Resource command creates a Logic Resource for an existing resource (excepting
conveyors, skids, and sensors). The combined resource and Logic Behavior possesses logic, 3D
representation, and kinematics behavior. Modeling must be enabled for the resource before performing
this command. After creating the Logic Behavior and attaching it to the resource, the command opens the
Logic Behavior Editor and enables you to edit the new logic. When editing a smart component, the Logic
Behavior Editor contains additional tools for editing kinematic behavior.

You can add any number of parameters, constants, and actions. These must all have unique names.

This video demonstrates behavior modeling.

Note
Videos are not included in PDF. To access videos, use HTML.

Copy LB Logic

Import Logic to a Resource

The Copy Logic command enables you to import logic from a resource with logic to a resource without
logic. You can use the command to quickly model resources with similar kinematics by copying logic from
a resource and editing the target.

Note
The Copy Logic command does not operate on conveyor resources.

1. Choose Control tab → Resource group → Copy Logic .

The Copy Logic dialog box appears.

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Import Logic to a Resource

2. Click the From Resource field and select a resource in the Graphic Viewer or Object Viewer. This
object is the source whose logic is to be copied.

Note
• If you select a valid resource before opening the Copy Logic dialog box, the resource is displayed
in the From Resource field.
• The source resource must contain its own Logic Resources (even if the Logic Behavior element
is empty).

3. Click the To Resources field and select resources in the Graphic Viewer or Object Viewer.
These objects are the targets to which the source logic is to be copied.

Note
If the target already contains logic behavior, this is overwritten by the source logic behavior.

4. Click OK to complete the operation.

The success message is displayed if all the Copy Logic operations succeed.

Note
• If the source resource is not a device, all its logic is copied.
• If the source resource is a device, its logic is copied if all of the following are true:

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 Connect subcomponents within a Compound Instance

◦ If the source resource contains a pose that has an action, the target resource must contain a pose
with the same name.
◦ If the source resource contains a pose that has a Logic Behavior sensor, the target resource must
contain a pose with the same name.
◦ The source and target resources must possess the same number of driving joints.
◦ The source and target resources must possess the same chain of types of driving joints. For
example, the following kinematics chain: r-r-r-p-r.
• If the source resource is a device, its logic is copied as follows:
◦ All exits, entries, constants, and simple parameters are copied (including their expressions).
◦ Actions and Logic Behavior sensors in a pose are copied to actions and Logic Behavior sensors in a
pose with the same name in the target device.
◦ Actions and Logic Behavior sensors in a joint are copied to actions and Logic Behavior sensors in a
joint with the same name in the target device.
• If the source resource contains Grip or Release actions, these are copied as follows:
◦ Process Simulate searches for a frame in the target resource that has the same relative location to
the component origin as the action frame in the source (within a tolerance of ±5%). If the search is
successful, Process Simulate uses this frame for the target Grip and Release actions.
◦ If Process Simulate cannot locate such a frame in the target resource, it creates a new frame and
uses this for the Grip and Release actions.
◦ If there are several actions in the source resource that refer to a specific frame and Process Simulate
created a new frame, all the target resource actions refer to the new frame.
• If a source device has multiple pose names, the destination device must have the same pose names in
the same order as the source device for a successful copy.

Connect subcomponents within a Compound Instance

The Logic Behavior command supports connecting subcomponents within compound instances. For
example, if a compound instance contains two subcomponents, child1 and child2, you can use the
following workflow to create a connection between the subcomponents:

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Connect subcomponents within a Compound Instance

1. Select child2 and use Create Logic Block (LB) to add an entry to the logic of child2.
2. Select parent and run Create Logic Block (LB).

3. Click .
A new internal entry is added to the parent.

4. Click .
A new internal exit is added to the parent.
5. Select child1 and use Create Logic Block (LB) to add an exit to the logic of child1.
6. Configure a value expression for the internal exit.
7. Close the logic resource. Because you have created an exit and have not connected any signals to it,
the system prompts you to open Connect Signals to Logic Blocks.
8. Use Connect Signals to Logic Blocks to create connections between the following:
• Child1's exit and its parent's internal entry
• The parent's internal exit and child2's entry
9. Close Connect Signals to Logic Block.

The result is described in the following figure:

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 Connect subcomponents within a Compound Instance

Note
It is not mandatory to connect a subcomponents's internal exit to another subcomponents. You can also
connect it to an exit of the logic behavior element.

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Create LB Pose Action and Sensors

Create LB Pose Action and Sensors

The Create LB Pose Action and Sensors command enables you to select device poses for which the
system then creates pose actions and sensors, together with all the required entries and exits. You can
select poses of more than one device if those devices share the same poses. This command works only on
kinematic objects that possess joints and poses.

1. Choose Control tab → Resource group → Create LB Pose Action and Sensors .
The LB Devices Creation dialog box is displayed.

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 Export LB(s) to Excel

2. In the Device Poses list, check the poses for which you wish to create actions and sensors.
3. If you wish to create and connect the signals, check Create and connect signals. Otherwise, the
system does not create or connect any signals.
4. Click Jump to Selected Pose to observe the devices move to the selected pose in the Graphic
Viewer.
5. Click OK.

Export LB(s) to Excel

You can export multiple logic behaviors (LB) defined in your study to an Excel file. Each Logic behavior is
exported to a separate worksheet. This enables you to view the definition of all components of the logic
behavior simultaneously in an easy-to-read format.

Procedure

1. Select the logic resource whose logic behavior you wish to export.

2. Choose Control tab → Resource group → Export LB to Excel .

Microsoft Excel opens, displaying the logic behavior in a worksheet format. You can save the file.
A sample exported logic resource is displayed below.

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 Note
You can select multiple logic resources to export. The logic behavior of each selected logic resource
is exported to a different sheet.

The Export LB to Excel command creates an additional excel file with the same format as the Connection
Mapping Source File. This file can be used to import and automatically assign the exported signals to the
relevant Logic Behavior entries and/or exits.

Connect Signals to Logic Resources

After creating a logic resource, you can attach signals that enable it to communicate with the outside
world. Two signal types are used for this purpose:

• Output Signals: Signals that enter the logic resource from other components.
• Input Signals: Signals that exit the logic resource.

These signals can either be created as needed in the Connect Signals to Logic Resources dialog box or in
the Signal Viewer.

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 Any type of signal can be attached to any entry or exit signal of a resource logic behavior element, with
the following limitations:

• The hardware type of any signal must match the hardware type of the entry or exit signal to which it is
attached.
• You cannot connect an exit signal to another exit signal (neither of the same logic behavior element nor
any other logic behavior element).
• You can attach only one signal to entries or exits, with the following exception: An entry signal of the
Boolean type may have one or more attached signals. In this case, the logic behavior element evaluates
the signals as if an OR operation was inserted between them.

After adding logic resources or devices with defined logic (configured in the SCL Editor or Resource Logic
Behavior Editor), connecting existing signals (perhaps hundreds or thousands of signals) in your data to
the entries and exits of the logic resources, one by one, is likely to be a long and tedious task. The Connect
Signals to Logic Resources command uses rule sets you can configure in a template file to automate this.

To connect signals to logic resources:

Procedure

1. In the Object Viewer, select a logic resource or a component under which logic resources are nested.

2. Choose Control tab → Resource group → Connect Signals .

The rule template is loaded and the Connect Signals to Logic Resources dialog box is displayed.

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 • All the Signals in the scene are listed on the right side of the dialog box. If you did not select any
logic resources prior to launching the command, the Logic Resources area on the left of the dialog
box is empty.

Note
The signal list is fully synchronized with the Signal Viewer.

• The Internal Entries/Exits list on the right only appears if you have loaded a compound logic
resource. It lists signals that can be used to connect the various subcomponents of the logic
resource.

Note
When using Internal Entries/Exits to connect subcomponents, the parent compound must be
open for modeling.

• If you have made changes to the resource logic in the SCL Editor, these are immediately
propagated to Connect Signals to Logic Resources dialog box. However, if you have made such
changes, they must be saved before the Apply option can be executed for the new signal mapping.
• Hovering over the logic resource reveals information about the numbers of LB and SCL entries and
exits.

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 • Hovering over an entry or exit informs you whether the entry or exit is a logic resource or SCL entry
or exit and information about its connected signals.
◦ LB Entry:

◦ LB Exit:

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 ◦ SCL Entry:

◦ SCL Exit:

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 ◦ SCL InOut:

3. You can filter the signal list on the right (both Signals and Internal Entries/Exits) in any of the
following ways:
• Filter by Name - Type any part of the name of the desired signals. Only the signals whose name
includes the characters you have typed are displayed. You can use * to represent a string of any
characters and ? to represent any single character.
• Filter by Resource - Pick any resource to display the signals connected to that resource. If you select
a robot, the system displays the signals owned by the robot.

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 • Filter by I/O type - By default this filter displays all signals. You can use it to display only Input
signals, or only Output signals. It also operates on the Internal Entries/Exits. Setting I/O Type to
Input displays only entries, and to Output displays only exits.
• Match LBs - Enabling this option displays only those signals that match the rules contained in the
template. If you select All, the system displays all such signals, if you select Selected, it displays
only those signals that also match the logic resources you have selected in the left panel (even if
not currently connected). Only the signal name is taken into account when calculating the signals
list (but not, for example, the signal type).
This filter does not operate on the Internal Entries/Exits list.

Note
The system only displays signals that comply with ALL the filters you have set.

4. You can sort both the Signals and Internal Entries/Exits lists alphabetically by clicking any of their
column headers.

Note
Clicking the Address column sorts by value.

5. To load logic resources, select the desired resource(s) and click Add selected logic resources .
You can select logic resources in the Object Viewer - picking parent items selects all the nested logic
resources, or logic resources in the Graphic Viewer - picking smart components selects all the nested
logic resources.Each loaded logic resources is displayed with its Entries and Exits and empty cells in
which to insert the relevant Entry Signals and Exit Signals.

6. If necessary, select logic resources and click Remove selected logic resources to delete selected
logic resources.

7. Click Match signals to all logic resources based on predefined rules .

The system matches the signals on the right with the entries and exits of all the logic resources on
the left and displays the results in the relevant cells.

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 Note
• In an SCL logic resource, if you have enclosed the name of an entry, exit, or variable in quotation
marks, the system is able to a match a signal to the pin even when the signal name contains the
pin name without quotation marks.

• The system displays suggested matches in green until you click Apply to accept them.
• If there is more than one match, the system displays them all.
• A signal can only be connected to a single entry or exit.
• If you wish to perform auto matching on selected logic resources, right-click the selected

resources and select Match Signals .

8. Optionally, you can perform signal assignment manually by dragging and dropping signals from the
Signals list on the right to logic resources on the left.

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 When matching signals manually, it is possible to match multiple signals to entries and/or exits.

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 9. Optionally, toggle Highlight Matches to highlight all the logic resource names that match (or
partially match) those in the Resource Name column of the Connect Signals to Logic Resources
rules template file and the entry/exit names that match those of the Pin Name column.

If Connect Signals to Logic Resources does not produce signal matches and the names of the
logic resources and/or entries/exits are not highlighted, it is possible the naming convention does not
correspond with that used in the Connect Signals to Logic Resources rules template.

10. Optionally, click Create and connect signals to free pins of all logic resources to create and
connect signals for all the entry and exit pins currently not connected to signals.

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 • The naming convention of the new signals is <logic resource name>_<pin name>.
• To create and connect signals for selected entry and exit pins currently not connected to signals on

selected logic resources only, right-click the relevant resources and select Create Signals .
11. If you wish to restart signal assignment from scratch, click Remove all pin connections of all logic

resources to disconnect all the signals currently connected to entry or exit pins.

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 To remove the connections from selected logic resources only, right-click the relevant resources and

select Remove Connections .

12. When you are satisfied with your assignments, click Apply.
The log prompt is displayed with a result summary.

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 Note
If there are SCL entries or exits and you are still editing them in the SCL Editor, the Apply button
remains disabled until you save the changes in the SCL Editor.

13. If you wish to view the log, click Yes.

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 Save the log if you wish.
or
Click No.
The signal assignments are accepted and saved.
14. Click Close to exit the Connect Signals to Logic Resources dialog box.

Note
After closing the Connect Signals to LBs dialog box, it is possible to perform Undo.

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To configure settings for Connect Signals to Logic Resources:

Procedure

1. Click Settings .

Rules Path displays the path and name of the Connect Signals to Logic Resources rules template file
(ConnectSignalsToLBsTemplate.xlsx). Modify this setting if you have stored your template file at a
different location.
2. By default, Allow partial match of LB name is set. This means that if there are slight differences in
the LB names, for example an underscore, the template considers these names to be matched. Clear
this option if you wish to impose exact name matching.
3. Even when no rule is defined, when Allow match without explicit rule is set, signals can be
considered as good matches for a logical resource or pin.
4. If you wish to enable multiple matching signals, set Enable multiple matches on a pin. When set, all
matching signals are connected to the pin. Otherwise, the signal with the best match is connected.
5. Optionally, open the rules template file ( ConnectSignalsToLBsTemplate.xlsx ) to view the signal-
matching rules. You can access the Connect Signals to LBs Template excel file from <Installation
directory\Program Files\Tecnomatix <version>\eMPower\Plc\MappingTemplates.

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 To configure settings for Connect Signals to Logic Resources:

6. Click the Example tab to view examples of how to compose signal-matching rules.

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To configure settings for Connect Signals to Logic Resources:

7. If you have made any changes to the rules, save the template file and click Reload.

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 If your change has created an illegal rule syntax, an error message is displayed in the status bar of the
Settings dialog box.
8. Click OK to close the Settings dialog box.

Note
If Process Simulate does not find the rule template file at the specified location, it performs auto-
matching using a set of basic preconfigured rules. In this case, the system only matches signals whose
names contain the exact name of the logic resource and its entries or exits.

Replace and Connect Device

The Replace and Connect Device option enables you to replace an existing device with a new one,
while maintaining the functionality and operational behavior of the original device. It also enables you to
remove the original device, if necessary.

Procedure

1. In the Object Viewer, select the device you wish to replace.

2. Choose Control tab → Resource group → Replace and Connect Device .

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 Note
The source device name appears in the Replace field.

3. In the Object Viewer, select the new device. The new device name appears in the With field.

Note
The target device must possess all the poses in the source device for this command to succeed. It
may also possess additional poses not in the source device.

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 Sensors

4. Check Position new device in location of original device if you wish to place the target device in
the location of the source device.
5. Check Remove original device after replacement if you wish to remove the source device after its
replacement.

Note
Removing the source device deletes it from the Object Viewer.

6. Click OK to complete the operation.

Sensors

Working with Sensors

Process Simulate supports light (photoelectric) and proximity sensors. These enable you to detect 3D-
visualized parts and resources that approach or enter the sensors' detection range and can be used for part
detection. Process Simulate also supports joint value and joint distance sensors.

The Sensors option includes the following commands for creating, editing, and controlling sensors:

Button Option Description

Edit Sensor Enables you to edit the
parameters of existing sensors.
Refer to Modifying joint sensor
settings.
Create Joint Value Sensor Enables you to create a sensor
that detects when a defined
joint reaches a pose within the
sensor's detection range. Refer to
Create Joint Value Sensor.
Create Proximity Sensor Enables you to create a sensor
that detects when objects enter
to within a specified distance
from a selected resource object.
Refer to Create Proximity
Sensor.
Create Joint Distance Sensor Enables you to create a sensor for
any joint of a device in order to
obtain online feedback about it.
Refer to Create Joint Distance
Sensor.
Create Photoelectric Sensor Enables you to create a sensor
that detects when objects cross

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Working with Sensors

Button Option Description

the path of a defined beam
“emitted” from the sensor. Refer
to Create Photoelectric Sensor.
Display Detection Zone Enables you to display a
sensor's detection zone in the
Graphic Viewer. Refer to Display
Detection Zone.
Hide Detection Zone Enables you to hide a sensor's
detection zone in the Graphic
Viewer. Refer to Hide Detection
Zone.
Activate Sensor Enables you to activate an
inactive sensor. Refer to Activate
Sensor.
Deactivate Sensor Enables you to deactivate an
active sensor. Refer to Deactivate
Sensor.
Create Property Sensor Enables you to create a sensor
that detects part properties
during simulation. Refer to
Create Property Sensor.
Edit Part Simulation Property Enables you to define custom
List properties for use in simulation.
Refer to Edit Part Simulation
Property List.
Create Property Projector Enables you to create a projector
that allocates custom properties
to parts during simulation. Refer
to Create Property Projector.
Edit Property Projector Enables you to edit a projector
that allocates custom properties
to parts during simulation. Refer
to Edit Property Projector.
Create LiDAR sensor Enables you to Create a LiDAR
sensor to mount on moving
objects and assist in avoiding
obstacles.

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 Create Joint Distance Sensor

Create Joint Distance Sensor

The Create Joint Distance Sensor command enables you to create a sensor for any joint of a device in
order to obtain online feedback about the selected joint. Feedback can be gathered in any of the following
formats:

• INT
• DINT
• REAL
• LREAL
1. Select a robot in the Graphic Viewer.

2. Choose Control tab → Sensors group → Create Joint Distance Sensor .

The Create Joint Distance Sensor dialog box is displayed.

3. In the Name field, enter a name for the new sensor.

4. From the Joint dropdown list, select the joint for which you wish to create the new joint distance
sensor.
5. In the Data Type area, select the format for the feedback you wish to receive.
6. From the Units dropdown list, select the desired units of measurement.

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Create Joint Value Sensor

Note
For a joint that moves with circular motion, the Units field allows you to select units of circular
motion (degrees or radians), otherwise, it allows you to select units of linear motion.

7. Click OK to create the sensor.

Create Joint Value Sensor

The Create Joint Value Sensor command enables you to configure a sensor for a device or robot. Creating
a joint value sensor automatically creates a signal for the sensor. The signal's name is the same as the
sensor's name.

Configuration options in the New Joint Value Sensor dialog box enable you to link the sensor's detection
range to one of the following:

• A single joint's position value. When the position of the joint reaches a set value within the sensor's
detection range, the sensor's signal is activated.
• A specific pose. When all joints reach pose values within the sensor's detection range, the sensor's signal
is activated.

The default name for a device sensor is:

<Name of device>_at_

The default name for a robot sensor is:

<Name of robot>_at_

1. In the Object Viewer, select the device for which you wish to define the sensor.

2. Choose Control tab → Sensors group → Create Joint Value Sensor .

The Create Joint Value Sensor dialog box is displayed.

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 Create Joint Value Sensor

3. In the Name field, enter a name for the sensor.

4. (This step is required for robots and optional for devices.) Select a pose from the list of device-specific
poses displayed in the Pose dropdown list.
The range of motion of the selected pose serves as a base value when defining the sensor's active
range.
5. (For devices only.) Select a joint from the list of device-specific joints displayed in the Joint dropdown
list.
The system checks the value of the selected joint against the sensor's active range.
6. (For devices other than robots.) Define the sensor's active range by selecting the appropriate Type
option.

Note
If the device is a robot, the Type options are disabled

Option Description
Pulse The sensor emits a signal when the joint value is identical to the
sensor value.
Range The sensor emits a signal if the joint value is between the From and
To values configured for the sensor.
Step From The sensor emits a signal if the joint value is the same as or higher
than the From value configured for the sensor.
Step To The sensor emits a signal if the joint value is the same as or lower
than the To value configured for the sensor.

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Create Proximity Sensor

7. In the From and To dropdown lists, enter the required values for the sensor's active range, as
appropriate.
• If a Pulse sensor is selected, enter the required value in the From field.
• If a Range sensor is selected, enter the required values in the From and To fields.
• If a Step From sensor is selected, enter the required value in the From field.
• If a Step To sensor is selected, enter the required value in the To field.
8. Click OK.
The Create Joint Value Sensor dialog box closes and the sensor appears in the Object Viewer.

Create Proximity Sensor

The following video describes how to create a proximity sensor.

Note
Videos are not included in PDF. To access videos, use HTML.

The Create Proximity Sensor command enables you to create a sensor that is activated when objects
enter to within a specified distance from a specified resource object, called the base resource object. For
example the sensor may be a resource representing an ultrasonic motion detector. When objects approach
the motion detector resource, the proximity sensor is activated.

When you define the sensor, you can specify the object types for detection and the detection range, which
is measured from the object envelope of the base resource object.

1. Select a compound resource.

2. Choose Control tab → Sensors group → Create Proximity Sensor .

The Create Proximity Sensor dialog box is displayed.

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 Create Proximity Sensor

The Create Proximity Sensor dialog box includes the following elements:

Field Description
Name Name of the sensor.
The default name is: proximity_sensor The
system ensures that the name is unique by
appending a number to the default name if
necessary.
Type The Teamcenter item revision type.
Check Interference With The object types for detection. If no objects are
included in this field, the sensor does not detect
any objects.
Detection Range The sensor's detection range — the maximum
distance at which an object activates the sensor.
The sensor detects objects within the detection
range distance from the object envelope of the
base resource object.
Normally False Signal Defines whether the sensor value is True or
False when no object is detected.

• (selected) — When no object is detected,

the sensor value is False. This is the default
configuration.

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Create Proximity Sensor

Field Description

• (not selected) — When no object is

detected, the sensor value is True.

3. In the Name field, enter a name for the sensor, if required.

4. You can specify the object types for detection in the Check Interference With field.
• Add object types:
a. Click in the Objects field to activate it.
b. In any viewer, click a part or resource object.
The object type appears in the Objects field.

• Remove object types:

a. Click an object type listed in the Objects field.
b. Press the Delete key.

Note
If no objects are included in this field, the sensor does not detect any objects.

5. In the Detection Range field, specify the sensor's detection range.

6. Configure the sensor value to be True or False when no object is detected using the Normally False
Signal field.
7. Click OK.
• The new sensor is nested under the selected compound resource.
• A signal for the new sensor appears in the Signal Viewer. The signal type is Boolean.

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 Create Photoelectric Sensor

• If you change the name of a sensor in the Object Viewer, the name of the sensor's corresponding
signal also updates automatically.
• The proximity sensor appears by default at the origin of the project's working frame. To relocate
the sensor, refer to Editing a Proximity Sensor. The Create Proximity Sensor dialog box closes.

Create Photoelectric Sensor

The following video describes how to create a photoelectric sensor.

Note
Videos are not included in PDF. To access videos, use HTML.

The Create Photoelectric Sensor command enables you to define a sensor that detects when objects cross
the path of a defined beam “emitted” from the sensor. You can configure the dimensions of the beam to
determine the length and width of the object detection zone. You can activate and deactivate the sensor
using the Activate Sensor and Deactivate Sensor commands.

The sensor appears in the Graphic Viewer as a lens and a yellow detection beam. You can display or hide
the detection beam in the Graphic Viewer using the Display Sensor Detection Zone and Hide Sensor
Detection Zone commands.

1. Select a compound resource.

2. Choose Control tab → Sensors group → Create Photoelectric Sensor .

The Create Photoelectric Sensor dialog box appears.

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Create Photoelectric Sensor

The Create Photoelectric Sensor dialog box includes the following elements:

Field Description
Name Name of the sensor.
The default name is: light_sensor. The system ensures that the name
is unique by appending a number to the default name if necessary.
Type The Teamcenter item revision type.
Diameter Diameter of the lens object in the Graphic Viewer and the detection
beam.
Width Width (thickness) of the lens object in the Graphic Viewer.
Length Length of the detection beam.
Check Interference With Object types for detection. If no objects are included in this field, the
sensor does not detect any objects.

3. In the Name field, enter a name for the sensor, if required.

4. In the Type field, select the Teamcenter item revision type.
5. Configure the lens and beam parameters for the photoelectric sensor using the Diameter, Width, and
Length fields.

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 Create Photoelectric Sensor

6. You can specify object types for detection in the Check Interference With field.
• Add object types:
a. Click in the Objects field to activate it.
b. In any viewer, click a part or resource object.
The object type appears in the Objects field.

• Remove object types:

a. Click an object type listed in the Objects field.
b. Press the Delete key.

Note
If no objects are included in this field, the sensor does not detect any objects.

7. Click OK.
• The new photoelectric sensor prototype is added to the current user folder and is nested under the
selected compound resource.
• An instance of the new photoelectric sensor is added to the study as a local component. The sensor
appears in the Object Viewer in the Resources path. By default, the sensor is activated.

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Create Photoelectric Sensor

• If you change the name of a sensor in the Object Viewer, the name of the sensor's corresponding
signal also updates automatically.
• The sensor can also be created with the New Object command or with the New Item command in
Teamcenter. In this case, lens geometry is not created automatically - it can be added manually.
• A boolean signal for the new sensor is inserted in the Signal Viewer.

• The sensor appears in the Graphic Viewer.

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 Create Property Sensor

By default, the photoelectric sensor appears at the origin of the project's working frame. To
relocate the sensor, refer to Edit a Photoelectric Sensor.
• The Create Photoelectric Sensor dialog box closes.

Create Property Sensor

The following video demonstrates how to create a property sensor.

Note
Videos are not included in PDF. To access videos, use HTML.

The Create Property Sensor command enables you to create Property Sensors and use them to detect
objects bearing certain properties during a simulation.

Note
For instructions on how to allocate properties to Property Sensors, refer to Edit a Property Sensor.

1. Select a compound resource.

2. Choose Control tab → Sensors group → Create Property Sensor .

A 3D Property Sensor is added to the Graphic Viewer and the Create Property Sensor window
appears.

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Create Property Sensor

The Property Sensor is shown together with a 3D ray that represents its detection zone. The Property
Sensor detects objects that enter the zone.
3. In the Name field, accept the default name or enter a name for the Property Sensor. The default
name is property_sensor.
If you change the name of a sensor in the Object Viewer, the name of the sensor's corresponding
signal also updates automatically.
4. In the Type field, select the Teamcenter item revision type.
5. Select a Data Type for the Property Sensor signal.
6. In the Detection Volume area, type values for Length, Height, Start Base Width, and End Base
Width to configure the shape of the detection zone. The new zone is superimposed in red on top of
the original zone (shown in yellow) until you click OK to accept the changes.
7. If you wish to change the plane of the Property Sensor, click Locate at and select a frame of
reference. The Property Sensor's detection zone lays along the z-axis of the selected frame.
8. Click OK to save the new Property Sensor and use Edit Property Sensor to configure all the relevant
fields.
The new sensor is nested under the selected compound resource.

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 Create LiDAR sensor

Create LiDAR sensor

Light Detection and Ranging (LiDAR) is a method for measuring distances by illuminating targets with a
laser beam and measuring the reflection with a sensor. The system then uses variations in laser return
times and wavelength to construct a 3D representation of the target. For example:

• You can mount a LiDAR sensor on an Automated Guided Vehicle (AGV) or Autonomous Mobile Robot
(AMR) to provide information about obstacles and avoid collisions.
• You can install a LiDAR sensor at any sensitive location to detect approaching objects.

Procedure

1. Select a device on which to mount the LiDAR sensor.

2. Choose Control tab → Sensors group → Sensors and click Create LiDAR Sensor.

If you did not select a device (select the root) before creating the LiDAR sensor, the system creates
a new device under which to nest the new sensor. By default, the Name of the new device is
Lidar_sensor.

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 Edit the sensor Name as required.
(Optional) Use the Attach command to attach the new sensor device to the desired object.
3. Click Locate at and pick a location at which to install the sensor.

Note
While Locate at is active, you can click to reposition the beam preview.

4. (Optional) Click to modify the orientation of the beam preview.

The LiDAR sensor projects a laser beam to detect objects in the beam path. The beam is composed of
a laser ray projected at a different angle each time.
5. Configure the Monitoring plane, as follows:
• Detection range—The length of the laser rays. The sensor detects objects with which the ray
collides if they are within this range. Objects more distant are not detected.
• Coverage sector—The span of the laser emission (in degrees or radians). This defines the
detection area.
• Either Number of rays—The number of rays; these are evenly spaced in the coverage sector. Or
Angle between rays—The angle between rays in the coverage sector; this angle determines the
number of rays that can fit into the coverage sector.
The beam preview is displayed and updated as you configure its parameters.

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 6. (Optional) Select Truncate preview rays.
The rays are truncated when they collide with any object.

7. Optionally, import Fields and Monitoring Cases, as described below.

8. Click OK.
The preview is replaced by a black outline of the monitoring plane.

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 Note
Without defining Fields and Monitoring Cases, the sensor is used for visualization only (the sensor
output is always 0).

The sensor's ray envelope (monitoring plane) is added to the Object Viewer and Graphic Viewer.

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 Import fields and cases for LiDAR sensor

Note
• After activating the sensor, its SCL script is executed during simulation.
• When displaying the detection zone, the LiDAR rays are also shown.

• During simulation, the LiDAR sensor rays are always displayed, even if you have hidden the
detection zone.

Import fields and cases for LiDAR sensor

You can use SICK Sensor Intelligence to define areas in which LiDAR sensors act. For example, if the
sensor is mounted on a device that enters an area in which an obstacle is located, the sensor triggers a
signal and you can define a response, for example, slow the motion. If the device enters an area defined as
very close to the obstacle, the sensor triggers a different signal and you can define a different response, for
example, terminate motion or reverse the direction of motion.

As a prerequisite, you must first create the relevant Fields (areas) in SICK and bind them in a Field set. Then
you must create Field Monitoring Cases in SICK. A Monitoring Case references specified Fields. Both Field
sets and Field Monitoring Case are stored as XML files which you can import into Process Simulate.

Procedure

1. In the Fields area of the Create LiDAR Sensor dialog box, click Import and select a field set.

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 Clicking Fields in the Create LiDAR Sensor dialog box emphasizes them in the Graphic Viewer.

Note
Fields are defined with respect to the monitoring plane.

2. In the Monitoring cases area, click Import and select a monitoring case.

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 Clicking a Monitoring Case shows which fields it references in the Fields area and emphasizes them in
the Graphic Viewer.

Note
Only one Monitoring Case can be active at any given time. For example, when simulating a fork-lift,
you can use one Monitoring Case to locate the items to load and another to locate the target.

Monitoring Cases and CutOff paths

After creating a LiDAR sensor, you can load the sensor resource in the SCL editor or the Connect Signals
dialog box and connect its monitoringCase and CutOffPaths variables to signals.

The monitoringCase input variable is a DWORD type variable, allowing users to activate and change the
active monitoring case during simulation. Only one monitoring case can be active at any given point in

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Activate Sensor

time, and only values shown in the LiDAR sensor's Monitoring Case list are valid. If an invalid Monitoring
Case number is passed to the LiDAR, simulation stops.

The cutOffPaths output variable is comprised of one bit for each monitoring field (as configured in SICK).
When the LiDAR sensor detects an object inside a monitoring field, the relevant bit goes high. You can then
track the signal in the Simulation panel.

Activate Sensor

The Activate Sensor command activates a deactivated sensor. Activating a sensor includes its functionality
in a simulation. The command is enabled when you select a deactivated sensor.

Note
• When a sensor is deactivated, its signal remains at the non-interference value.
• Active sensors are evaluated during simulation, even if they are not used in logic. This may affect
performance when running legacy data, since in earlier versions photoelectric sensors were only
evaluated during simulation if they were used in logic. To correct this, deactivate the disconnected
sensors, using the Deactivate Sensor command.
Logic refers to LBs, modules, transition conditions, PLC (in PLC mode).

1. Select a deactivated sensor.

2. Choose Control tab → Sensor group → Activate Sensor .

The sensor is activated.

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 Deactivate Sensor

Deactivate Sensor

The Deactivate Sensor command deactivates an active sensor. Deactivating a sensor excludes its
functionality from a simulation. The command is enabled when you select an active sensor. When a sensor
is deactivated, its signal remains at the non-interference value.

1. Select an active sensor.

2. Choose Control tab → Sensor group → Deactivate Sensor .

The sensor is deactivated.

Edit Sensor Properties

Modifying Joint Sensor Settings

The Edit Sensor Properties command enables you to modify the settings of a selected joint value
sensor, proximity sensor, photoelectric sensor, or property sensor. The selected sensor type determines
the settings that you can modify, as described in the following sections:

• Edit Joint Value Sensor

• Edit Proximity Sensor
• Edit Photoelectric Sensor
• Edit Property Sensor

If the selected sensor is in the modeling working space, the Edit Sensor command edits the sensor
prototype. If the selected sensor is a library component, the command edits the instance.

Edit a Joint Value Sensor

A joint value sensor is activated when a defined joint reaches a pose within the sensor's detection range.
Configuration options in the Edit Joint Value Sensor dialog box enable you to link the sensor's detection
range to either the selected joint's range of motion or to a specific pose.

1. In the Object Viewer, select the sensor that you wish to edit.

2. Choose Control tab → Sensor group → Edit Sensor .

The Edit Joint Value Sensor dialog box appears, displaying the settings currently defined for the
sensor.

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Edit a Joint Value Sensor

3. In the Name field, you can change the name of the sensor.
4. You can change the pose using the list of device-specific poses displayed in the Pose dropdown list.
The range of motion of the selected pose serves as a base value when defining the sensor's active
range.
5. (For devices only.) You can change the joint type by selecting a device-specific joint from the Joint
dropdown list.
The value of the selected joint is checked against the sensor's active range.
6. (For devices other than robots.) You can define the sensor's active range by selecting an option in the
Type area.

Note
If the device is a robot, the Type options are disabled

Option Name Description

Pulse The sensor emits a signal when the joint value is identical to the
sensor value.
Range The sensor emits a signal if the joint value is between the From and
To values configured for the sensor.
Step From The sensor emits a signal if the joint value is the same as or higher
than the From value configured for the sensor.
Step To The sensor emits a signal if the joint value is the same as or lower
than the To value configured for the sensor.

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 Edit a Proximity Sensor

7. In the From and To dropdown lists, you can enter the required values for the sensor's active range, as
appropriate.
• If a Pulse sensor is selected, enter the required value in the From field.
• If a Range sensor is selected, enter the required values in the From and To fields.
• If a Step From sensor is selected, enter the required value in the From field.
• If a Step To sensor is selected, enter the required value in the To field.
8. Click OK.
The Edit Joint Value Sensor dialog box closes and the changes are applied.

Edit a Proximity Sensor

A proximity sensor is defined by a specified base resource object. The sensor is activated when objects
enter its detection zone. Configuration options in the Edit Proximity Sensor dialog box enable you to
modify the sensor's base resource object and parameters.

1. Select the proximity sensor that you wish to edit.

2. Choose Control tab → Sensor group → Edit Sensor .

The Edit Proximity Sensor dialog box is displayed.

The Edit Proximity Sensor dialog box includes the following elements:

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Edit a Proximity Sensor

Field Description
Name Name of the sensor.
Check Object types for detection. If no objects are included in this field, the sensor
Interference With does not detect any objects.
Detection Range The sensor's detection range — the maximum distance at which an object
activates the sensor.
The sensor detects objects within the detection range distance from the
object envelope of the base resource object.
Normally False Defines whether the sensor value is True or False when no object is detected.
Signal
• (selected) — When no object is detected, the sensor value is False. This
is the default configuration.

• (not selected) — When no object is detected, the sensor value is True.

3. In the Name field, you can change the name of the sensor.
4. In the Detection Range field, you can change the sensor's detection range.
5. You can specify object types for detection in the Check Interference With field, as follows:
• Add object types:
a. Click in the Objects field to activate it.
b. In any viewer, click a part or resource object.
The object type appears in the Objects field.

• Remove object types:

a. Click an object type listed in the Objects field.
b. Press the Delete key.

Note
If no objects are included in this field, the sensor does not detect any objects.

6. Click OK.
The Edit Proximity Sensor dialog box closes and the system applies the changes.

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 Edit a Photoelectric Sensor

Edit a Photoelectric Sensor

A photoelectric sensor is activated when an object crosses the sensor's detection beam. Configuration
options in the Edit Photoelectric Sensor dialog box enable you to attach the sensor to a device, set
the sensor's detection range, and configure whether the sensor value is True or False when no object is
detected.

1. In the Object Viewer, select the photoelectric sensor you wish to edit.

2. Choose Control tab → Sensor group → Edit Sensor .

The Edit Photoelectric Sensor dialog box appears, showing the settings currently defined for the
sensor.

Note
When editing a library component, the Edit Photoelectric Sensor dialog box includes the buttons
described below and the Normally False Signal field.

3. You can change the sensor name in the Name field.

4. You can change the sensor location using one of the buttons described in the following table. The
buttons are displayed in the Edit Photoelectric Sensor dialog box when editing a library component.

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Edit a Photoelectric Sensor

Button Name Description

Place Enables you to move and rotate the sensor using the Placement
Manipulator tool.

Relocate Enables you to relocate the sensor using the Relocate tool, selecting
a location in the cell by specifying beginning and end frames.

Attach Enables you to attach the sensor to a specific component using

Attach/Detach Components.

5. You can change the detection distance by adjusting the value in the Length field in the Beam
Parameters area.
6. You can change the object types for detection in the Check Interference With area, as follows:
• Add object types:
a. Click in the Objects field to activate it.
b. In any viewer, click a part or resource object.
The object type appears in the Objects field.

• Remove object types:

a. Click an object type listed in the Objects field.
b. Press the Delete key.

Note
If no objects are included in this field, the sensor does not detect any objects.

7. When editing a library component, you can use the Normally False Signal field to configure the
sensor value to be True or False when no object is detected.

Note
The Normally False Signal field appears only when editing a library component.

• (selected) — When no object is detected, the sensor value is False. This is the default
configuration.

• (not selected) — When no object is detected, the sensor value is True.

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 Edit a Property Sensor

8. Click Close.
The Edit Photoelectric Sensor dialog box closes and the system applies the changes.

Edit a Property Sensor

A property sensor is activated when an object bearing the sensor's defined property enters the sensor's
detection range.

1. In the Object Viewer, select the sensor you wish to edit.

2. Choose Control tab → Sensor group → Edit Sensor .

The Edit Property Sensor dialog box appears, displaying the settings currently defined for the sensor.

3. In the Name field, you can change the name of the sensor.
4. In the Signal Name field, you can change the name of the sensor's signal.
5. In the Data Type field, you can change the type of the sensor's signal.

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Create Property Projector

6. In the Detection Volume area, you can change the dimensions, orientation, and range of the
sensor's detection zone.
7. In the Property Name field, you can change the property that the sensor detects.
8. In the Parts To Detect list, you can change the types of part that the sensor detects.
9. Click OK.
The Edit Property Sensor dialog box closes and the changes are applied.

Create Property Projector

The Create Property Projector command enables you to create Property Projectors and use them to
allocate properties (defined in the Edit Part Simulation Property List command) to parts during a
simulation.

1. Choose Control tab → Sensor group → Create Property Projector .

A 3D Property Projector is added to the Graphic Viewer and the Create Property Projector window
appears.

The Property Projector is shown together with a ray that represents its range. The Property Projector
allocates properties to objects that cross its ray.
2. In the Name field, accept the default name or enter a name for the Property Projector. The default
name is property_projector.
3. In the Detection Range field, type a range for the Property Projector.

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 Edit a Property Projector

The new range is superimposed in red on top of the original range (shown in yellow) until you click
OK to accept the changes.
The default range is 1000 millimeters.
4. Click the Parts to Detect list and use the Graphic Viewer or Object Viewer to select the parts to
which the Property Projector is going to allocate properties.
5. In the Properties area, the Available Properties list displays the properties available for allocation
to objects (those properties that you defined in the Deactivate Sensor) and the Used Properties list
displays the properties selected for allocation by the Property Projector.

• Select a property in the Available Properties and click to move it to the Used Properties.

• Select a property in the Used Properties and click to remove it (return it to the Available
Properties).

• Click to move all the properties in the Available Properties list to the Used Properties.

• Click to remove all the properties from the Used Properties.

6. Click OK to save the new Property Projector.

Edit a Property Projector

The Edit Property Projector command enables you to edit Property Projectors used to allocate properties
(defined in the Edit Part Simulation Property List command) to parts during a simulation.

Note
For instructions on how to create a Property Projector, refer to Create Property Projector.

1. In the Graphic Viewer or Object Viewer, select the Property Projector you wish to edit.

2. Choose Control tab → Sensor group → Edit Property Projector .

The Edit Property Projector dialog box appears, displaying the settings currently defined for the
projector.

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Edit a Property Projector

3. In the Name field, you can change the name of the projector.
4. In the Detection Range area, you can change the Property Projector's range.
5. In the Properties area, you can change the properties that the Property Projector allocates to objects.

• Select a property in the Available Properties and click to move it to the Used Properties.

• Select a property in the Used Properties and click to remove it (return it to the Available
Properties).

• Click to move all the properties in the Available Properties list to the Used Properties.

• Click to remove all the properties from the Used Properties.

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 Edit Part Simulation Property List

6. In the Parts To Detect list, you can change the types of part to which the Property Projector allocates
properties.
7. Click OK.
The Edit Property Projector dialog box closes and the changes are applied.

Edit Part Simulation Property List

The Edit Part Simulation Property List enables you to define custom properties that are used by Property
Projectors and Property Sensors during a simulation. These properties are saved in a form attached to the
send-to-Process Simulate-process.

Workflow

After defining properties with the Edit Part Simulation Property List command, you can define Property
Projectors to allocate specific property(ies) to parts during a simulation and Property Sensors to detect
parts bearing those properties.

1. Choose Control tab → Sensor group → Edit Part Simulation Property List .
The Edit Project Property List window appears.

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Display Sensor Detection Zone

2. To create a new property, click Add.

The Define Property window appears.

3. Type a name for the new property and click OK.

The new property appears in the Edit Project Property List.
4. To remove a property from the Edit Project Property List, select the property and click Remove.
5. In the Edit Project Property List, click OK to save the information.
Signals are created for properties only after these properties are used by a Property Projector. More
than one signal can be created per property (if this property is used by more than one Property
Projector).

Display Sensor Detection Zone

The Display Sensor Detection Zone command displays the detection zone of a selected sensor in the
Graphic Viewer. The command is enabled when you select a sensor with a hidden detection zone.

1. Select a sensor with a detection zone hidden in the Graphic Viewer.

2. Choose Control tab → Sensor group → Display Sensor Detection Zone .

The sensor's detection zone is displayed in the Graphic Viewer.

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 Hide Sensor Detection Zone

Hide Sensor Detection Zone

The Hide Sensor Detection Zone command hides the detection zone of a selected sensor in the Graphic
Viewer. The command is enabled when you select a sensor with a displayed detection zone.

1. Select a sensor with a detection zone displayed in the Graphic Viewer.

2. Choose Control tab → Sensor group → Hide Sensor Detection Zone .

The sensor's detection zone is hidden in the Graphic Viewer.

Conveyors

Conveyors - Introduction

There are three types of conveyors in Process Simulate:

• Linear Conveyor - a straight line conveyor defined by start and end frames. Parts or skids are
transported linearly when the conveyor is activated and are in collision with the conveyor’s moving
surface.
• Angular Conveyor - a circular conveyor defined by a center point frame, radius, and start and end
angles. Parts or skids are transported in a circular path when the conveyor is activated and are in
collision with the conveyor’s moving surface.
• Conceptual Conveyor - a 3D curve conveyor defined using an existing 3D curve and start and end
points on the curve. Parts or skids are transported relative to the curve when the conveyor is activated
and the part or skid’s conveying frame always remains directly above of the conveyor’s curve.
This type of conveyor is both faster and more accurate than linear and angular conveyors. It can also
be used to achieve more complicated conveying trajectories which are hard to implement using only
straight and circular paths. It is generally preferable to use conceptual conveyors.

All conveyor types can be defined to transport product data directly or to transport skids (resources) to
which Product data is attached (i.e. a skid conveyor).

Process Simulate provides the following commands that enable you to add different types of conveyors to
the cell, including generic conveyors, linear conveyors, angular conveyors and skid conveyors (linear and
angular). When you run the simulation, these conveyors can transport defined parts from one location in
the cell to another without the need to execute attach or detach events.

Button Option Description

Define Conveyor Enables you to create a generic
conveyor that can be used to
transport parts along a defined

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Define Conveyor

Button Option Description

path inside the cell. Refer to
Define Conceptual Conveyor.
Drive Conveyor Enables you to jog the conveyor
forwards or backwards, and to
create and store positions you
know to be useful. Refer to Drive
Conveyor.
Edit Conceptual Conveyor Enables you to modify the
settings of an existing conveyor.
Refer to Edit Conceptual
Conveyor.
Define Conveyable Part Enables you to select a part
to be transported by a normal
conveyor. Refer to Define
Conveyable Part.
Define As Conceptual Skid Enables you to define an
existing resource as a skid for
transporting parts on a skid
conveyor (linear or angular).
Refer to Define as Conceptual
Skid.
Edit Conceptual Skid Enables you to modify the
settings of an existing skid. Refer
to Edit Conceptual Skid.
Edit Conveyor Logic Behavior Enables you to add selected logic
behavior, such as starting and
stopping, to a conveyor. Refer to
Edit Conveyor Logic Behavior.

Define Conveyor

The following video demonstrates how to define conveyors.

Note
Videos are not included in PDF. To access videos, use HTML.

The Define Conveyor command enables you to create a conveyor that can be used to transport parts
between defined locations. You can optionally define the conveyor as a skid conveyor.

1. Select the resource you wish to define as a conveyor.

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 Define Conveyor

2. Choose Control tab → Conveyor group → Define Conveyor .

The Define Conceptual Conveyor dialog box appears.

3. Click the Curve field to activate it and pick a curve.

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Define Conveyor

You can use any existing curve, closed or open, 2D or 3D, or create a new curve to use specifically for
the new conveyor, or use curves imported from external CAD applications.

The Define Conceptual Conveyor dialog box displays the coordinates of the new start and end
points. In this case, both points have the same coordinates.
4. If you wish not to use the entire length of the selected curve, you can do one of the following:
• Click Start Point and click the new start point on the curve.

• Click End Point and click the new end point on the curve.
The cone representing the end point of the curve moves to the new end point.

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 Define Conveyor

In both cases the portion of the curve to be used as the conveyor is emphasized in yellow and the
remainder is shown in green.

5. You can click Reverse Direction to reverse the direction of the conveyor.

6. If the selected curve is closed, you can also control which portion is used to create the conveyor in the
following ways:

• — Invert Selection — If you have selected a portion of the curve to use for the conveyor, you
can use this function to invert the selection.

After inverting the selection, the cone indicates the new end point.

• — Set End as Start —

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Define Conveyor

Re-selects the entire curve; both the start point and end point have the same coordinates.
7. Click the Moving Surface area to expand it.

You can configure the following parameters:

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 Define Conveyor

• Conveying Tolerance — Defines how close a conveyable part has to be to the conveyor in
order for the part to be conveyed. Any object within the conveying tolerance moves as if it were
placed upon the conveyor. For skids, the measurement is made with respect to the conveying
frame.
• Collision Tolerance — Defines how close a conveyable part has to be to the conveyor
in order for it to be considered in collision calculations. If a part or skid is within the collision
tolerance but outside the conveying tolerance, and it is therefore stationary, the application
takes it into account when calculating collisions between objects. If a part is beyond the collision
tolerance, the application ignores it when calculating collisions between objects.

Note
• The units of measurement are defined in Units tab. The default unit is millimeters.
• In the case of a conceptual skid conveyor, the collision tolerance and conveying tolerance are
measured from the conveying frame. Refer to Define as Conceptual Skid.
• You cannot configure the collision tolerance to be less than the conveying tolerance. This
combination is blocked because the application checks for collision between objects on the
conveyor.

8. Click the Max Speed area to expand it and set the maximum conveyor speed in millimeters per
second.
9. Check Skid Conveyor if you wish the conveyor to act as a skid conveyor.

Note
In order to ensure that the simulation conveying a skid is correct, do not place the conveyor and its
skids under the same equipment.

In this case, conveyable parts are moved by becoming attached to a skid on the conveyor. If you clear
this option, parts are moved directly by the conveyor after being placed on the conveyor (or within
the Conveying Tolerance).
10. Click OK.
The new conveyor appears in the Graphic Viewer and Object Viewer.

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Define Conveyor

If the conveyor has been defined as a normal conveyor, define parts to be conveyed, as described in
Define Conveyable Part. If the conveyor has been defined as a skid conveyor, define the skid that will
carry parts on it, as described in Define as Conceptual Skid.

Note
• When the conveyor is defined, a new signal is also added to the Signal Viewer. By default it
is named <Conveyor name>_<Conveyor position>. This is a Real type signal and is useful when
working in Line Simulation mode.
• If the leading item/skid on the conveyor is obstructed and cannot move forwards, the following
items/skids will stack up behind it with a default gap of 0.1mm. Refer to the Stacking accuracy
parameter on the PLC tab tab for information on how to configure the gap or penetration of the
stacked objects.

For information on how to add control points, refer to Conveyor Control Points.

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 Add Conveyor Control Points

Add Conveyor Control Points

Control points are points along the conveyor’s curve at which you can invoke specified actions. You can
also set a logical expression to decide whether the action is executed. Process Simulate supports the
following types of control point:

• Stopper—When a part or skid reaches a stopper point, it stops moving. Additional parts create a stack
when their path is blocked.
• Orientation change—When a part or skid reaches an orientation change point, it changes its direction
of motion (according to the point’s settings).
• Speed change—When a part or skid reaches a speed change point, its velocity changes (until it reaches
the next speed change point).

Procedure

1. From the Define Conceptual Conveyor dialog box, click Control Points.
The Control Points dialog box appears.

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 Note
Control points must have unique names. If the system detects multiple control points with the
same name, the system prompts you to confirm automatic renaming of the duplicates or opens a
window enabling you to rename them manually.

2. Click the arrow in New Control Point button to view the control point options.

• Create Control Point—Creates a new control point at the selected point on the conveyor.
• Create 'Generate skid appearance' Control Point—Enables you to generate a skid appearance
control point at the selected point on the conveyor. It is necessary to select a skid resource to act as
the prototype for all the appearances to be generated.
• Create 'Destroy skid appearance' Control Point—Enables you to generate a skid deletion control
point at the selected point on the conveyor. This control point deletes all the skid appearances
deriving from the specified skid resource.
3. Select the desired type of control point. The New Control Point button is updated to display the
current selection.
4. Click the New Control Point button.The button toggles to its on state and your cursor changes to a
cross-hairs symbol.
5. Click a point on the conveyor at which to add the new control point.
The new control point is displayed as an orange sphere.

A ghost skid is displayed. The conveying frame of the new skid is superimposed on the control point
and is orientated with the same orientation as that of the source skid's conveying frame.

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 The body of the skid may be offset from the control point.
6. Select a skid, as follows:
• If you are creating a Generate skid appearance control point, pick a skid.

This skid is used as the source for all skid appearances generated dynamically by the control point
during simulation. The new skid appearances all have the same properties as the specified skid.

You can click to fine-tune the position and orientation of the generated skid appearances.
• If you are creating a Destroy skid appearance control point, pick a skid.

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 All the skid appearances generated dynamically by the control point during simulation, and
deriving from the specified skid resource, will be deleted during simulation.

Note
The New Control Point option does not require you to select a skid.

Note
Skids can only be selected if not open for modeling and they possess a conveying frame.

7. Optionally, compose a Condition expression for the control point. When the condition evaluates to
True during simulation, the properties of the control point are taken into consideration; otherwise,
they are ignored. However, even when the condition expression evaluates to False during simulation,
the speed property is still used to calculate the speed intervals. Control Points are displayed in bold
font in the Name column when they possess a Condition expression. For information on how to edit
expressions, refer to Edit Module.

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 Note
Condition expressions are saved in the prototype. If you try to use a conveyor in another study, its
condition expressions lack the signal names, as these are only saved in the current study. However,
if you use the SCL Editor to control the conveyor, just connect the relevant signals from that study
to overwrite the condition expression.

In this example, when a skid reaches control point CP_0 and both Resource Input Signal and
Resource Input Signal1 are False, the skid continues to move. However, if one of these signals
changes to True when the next skid arrives at CP_0, that skid stops at the control point and all the
following skids stack up behind it, as long as either signal remains True.
The Control Points dialog box displays the following information for the control point:
• Name—By default, control points are named according to the following convention:
CP_<enumerator>. If you wish to rename the control point, double-click it or press <F2>, edit
the name, and press <Enter> to accept the change.
• Point—Displays the coordinates of the selected point. If you wish to relocate the control point,
double-click it or press <F2>, edit the coordinates or drag the control point to its new location, and
press <Enter> to accept the change.
• Objects—The name of the resource skid defined for the Generate skid appearance or Destroy
skid appearance control point.
• Stopper—When a control point is defined as a Stopper Point its Orientation and Speed are grayed
out and not considered during simulation (parts do not change their orientation when passing the
control point, and the point’s properties are ignored when calculating speed intervals).

During the simulation, when a skid/part reaches a stopper point, it stops moving. If other skids/
parts follow the stationary one, they stack one after another before the Stopper Point.

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 • Orientation—When parts reach the control point on the conveyor, their orientation is changed to
that defined in the Orientation cell. By default, the cell is empty and there will be no change in the

part’s orientation. To select a frame for the orientation, select the orientation cell, click and
select a frame (as described in Create Frame); or double-click the orientation cell or press <F2>,
and edit the frame values manually.

The control point with orientation is displayed as a sphere with a frame. Press <Enter> to accept
the change.

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 If you wish to cancel the orientation, select the orientation cell and click .
• Speed—When parts reach the control point on the conveyor, their speed is changed to that defined
in the Speed cell. By default, this is set as the conveyor's actual speed (the speed cell is empty, with
no value displayed).

Note
In this case, when a part or skid passes through such a control point, its speed is changed to the
actual conveyor speed (which might be accelerated or decelerated based on the conveyor's logic
behavior during the simulation).

To set the speed, select the speed cell, double-click it or press <F2>, set the value as desired, and
press <Enter> to accept the change.

• Reset to Conveyor Speed —At selected control points (represented as green spheres), resets
the speed from the absolute speed (if it was defined) to the "conveyor speed" (the default state,
indicated by the empty speed cell).

8. For each additional control point you wish to add, click (the button toggles to its on state)
and click the point on the conveyor at which to add the new control point.
The new control point is displayed as a green sphere and the rest are displayed as orange spheres.

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 9. If necessary, select a control point and click to remove it.
10. Click OK to close the Control Points dialog box and save the control points.

Note
If you added control points on an excluded section of the conveyor curve (refer to Define
Conceptual Conveyor), these are removed when you close the Control Points dialog box.

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 Edit Conceptual Conveyor

Edit Conceptual Conveyor

The Edit Conceptual Conveyor command enables you to modify the settings of an existing conveyor. You
can only edit a conveyor that is loaded for modeling.

1. In the Graphic Viewer or Path Editor, select the conveyor to edit.

2. Choose Control tab → Conveyor group → Define Conveyor .

The Define Conceptual Conveyor dialog box appears, showing the currently defined conveyor
settings.
3. Modify the conveyor settings as required.

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Define as Conceptual Skid

Note
For more information about conveyor settings, refer to Define Conceptual Conveyor.

4. Click OK.

Define as Conceptual Skid

The Define as Conceptual Skid command enables you to define any resource (including Equipment) as a
skid for transporting parts on a skid conveyor (linear or angular), as displayed below.

When defining a resource as a skid, you must define the conveying frame and the surface entities to which
the parts being transported are attached. The conveying frame sets the position of the reference frame for
making tolerance calculations on the skid.

The skid, together with the entities that comprise it, are referred to as a resource. You must define the
entities that touch or hold parts to be conveyed by the conveyor.

Note
You can add Logic Behavior to a skid but not to its appearance. This enables you to customize the
behavior of a single skid, while retaining the default behavior for all the other skids on the conveyor.

1. Select an existing resource in the Graphic Viewer or Path Editor.

2. Choose Control tab → Conveyor group → Define As Conceptual Skid .

The Define Skid dialog box is displayed.

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 Edit Conceptual Skid

3. In the Conveying Frame field, enter the X-, Y- and Z-coordinates of the frame for conveying the skid.
By default, the frame is set for the center of the bottom of the skid (0, 0, 0).

Note
To restore the default setting, click Default.

4. Click inside the Entities list. In the Graphic Viewer or the Object Viewer, select the entities on the
skid that will act as the surface entities for attaching parts for the skid to convey.
5. Click OK to define the selected resource as a skid.
During simulation, the skid transports any parts placed onto its surface entities. Skids can transport
In-Process Assembly (IPA) and Dynamic In-Process Assembly (DIPA) parts.

Edit Conceptual Skid

The Edit Conceptual Skid command enables you to modify the settings of an existing skid.

1. In the Graphic Viewer or Path Editor, select the skid to edit.

2. Choose Control tab → Conveyor group → Edit Conceptual Skid .

The Define Skid dialog box appears, showing the currently defined settings.
3. Modify the settings as required.

Note
For more information about skid settings, refer to Define as Conceptual Skid.

4. Click OK.

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Define Conveyable Part

Define Conveyable Part

The Define Conveyable Part command enables you to select a part to be transported by a normal
conveyor. A normal conveyor can only transport parts defined as conveyable. When defining conveyable
parts, you must select the conveying frame.

1. Select a part in the Graphic Viewer or Path Editor.

Note
You can select In-Process Assembly (IPA) and Dynamic In-Process Assembly (DIPA) parts.

2. Choose Control tab → Conveyor group → Define Conveyable Part .

The Define Conveyable Part dialog box is displayed.

3. In the Conveying Frame field, enter the X-, Y- and Z-coordinates of the frame for conveying the part.
By default, the frame is set as the center of the bottom of the part.

Note
To restore the default setting, click Default.

4. Click OK.
The part is now defined as a conveyable part. During simulation, a normal conveyor can convey the
part when the part is placed on the conveyor.

Edit Conveyor Logic Behavior

The Edit Conveyor Logic Behavior command enables you to add selected logic behavior, such as starting
and stopping, to a conveyor. You can edit the logic behavior, as required, in the Resource Logic Behavior
Editor dialog. Refer to Edit Logic Resource.

1. In the Graphic Viewer or Path Editor, select the conveyor to edit.

2. Choose Control tab → Conveyor group → Edit Conveyor Logic Behavior .

The Conveyor Actions dialog box is displayed.

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 Drive Conveyor

3. Select one or more of the following conveyor actions:

Action Signal Type Description

Start Boolean Starts the conveyor. By default, the resulting logic block simulation
has a rising edge behavior, which means that the conveyor starts
only when the condition of the Start signal changes from False to
True.
Stop Boolean Stops the conveyor. By default, the resulting logic block simulation
has a rising edge behavior, which means that the conveyor stops only
when the condition of the Stop signal changes from False to True.
Change Boolean Enables the use of controllable speeds. The actual speed is calculated
Speed according to the following formula:
cur_speed + SPEED_STEP * (ChangeSpeed AND NOT
prev_changeSpeed)
where SPEED_STEP is defined as a constant inside the logic block
simulation.
The change of speed is initiated by the external Boolean value in the
following expression:
cur_speed * (ChangeSpeed AND NOT prev_changeSpeed)
Change Boolean Enables the use of bi-directional conveyors. By default, the resulting
Direction logic block simulation has a rising edge behavior, which means
that the conveyor changes direction only when the condition of
the Change Direction signal changes from False to True. The
conveyor only changes direction when it is stopped—that is, the
Change Direction signal has no effect if the conveyor is in motion.

4. Click OK to add the logic behavior to the conveyor.

Drive Conveyor

The Drive Conveyor command enables you to drive or jog the conveyor forwards or backwards so that
conveyor skids or parts move to new positions along the conveying line. You can also create and store
positions you know to be useful. For example, if you are interested in examining what happens when a
robot executes a weld on a part traveling on the conveyor, you can create a conveyor position just before
the position at which the robot executes the weld and run your simulation from that point without the
need to run it from the start.

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 Note
• Conveyor control points are ignored while driving the conveyor. If, for example, you drive the
conveyor past a control point that is set to change the orientation of a skid, the skid remains in
its initial orientation.

Procedure

1. Select the conveyor you wish to manipulate.

2. Choose Control tab → Conveyor group → Drive Conveyor .

The Drive Conveyor dialog box appears.

3. If you wish to change the Zero position (this position that acts as a point of reference for all other
positions) of the conveyor, click and then click the desired point on the conveyor or enter a
numerical value.

Note
After specifying a new Zero position all position values are automatically updated so no change
actually occurs in the positions. For example, after changing the Zero position from zero to 50, a
position at 20 will now be defined at -30. Therefore changing the Zero position has no observable
effect on the conveyor.

Lower Limit and Upper Limit respectively show the current lower and upper limits for
the conveyor's motion (with respect to the Zero position). These parameters are not relevant for a
closed-curve conveyor.
4. When set, Limit motion automatically limits conveyor driving according to the currently conveyed
parts/skids. The limits are displayed in Lower Limit and Upper Limit. In this case, parts/skids on the
conveyor always maintain the same distance from each other. This means that when the leading
part/skid reaches the end of the conveyor and is prevented from moving any further, the following
parts/skids also stop moving, to prevent stacking. By default this parameter is set, clear Limit motion
if you wish.

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 5. To drive or jog the conveyor to another position, do any of the following:
• Drag the slider.
• Enter a value in the numerical field or use the arrows to update the value in the numerical field.
• Select a position from the Positions list.
The following figure shows an example of a conveyor before and after changing its position via the
Drive Conveyor dialog box.

6. To configure the Position list, click Positions Editor and do any of the following:

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 • Create a new conveyor position - Click New. The new position is named Position1 by default and
appears in the Positions list. Double-click the name to edit it and give it a meaningful name. The
numerical value of the selected position is displayed in the Value numerical field.
• Update a conveyor position - Select a position, move the part/skid to the desired place on the
conveyor, and click Update. The value of the position is displayed in the Value numerical field and
the Value slider is refreshed.
• Delete a conveyor position - Select a position and click Delete to remove it from the Positions list.
• Jump to a conveyor position - Select a position and click Jump to cause the part/skid to jump to
the desired position. Alternatively, double-click the target position. If Limit motion is set, conveyed
parts/skids maintain their relative offset with respect to each other.
7. Optionally, click Settings to configure the Drive Conveyor display and behavior.

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 Drive conveyor with SCL Editor

Configure any of the following:

• Column management - Check the columns you wish to display in the Drive Conveyor dialog box

and clear those you wish to hide. The Value column must always be displayed. Use the and

arrows to set the column order that suits you best.

• Drive controls - Set Step size to configure the distance jumped when modifying the conveyor
Value. Adjust the Slider sensitivity as desired. Higher Slider sensitivity values cause faster, less
precise slider control. lower values cause slower, more precise control.
• Attach compound parts to skids - When cleared, only parts detected by the skid are attached to
the skid. If, for example, a car has been created as a compound part and the skid has detected the
car chassis, the skid and the chassis move along the conveyor but the car body remains in its place.
When this parameter is set, the entire compound part is attached and is moved by the conveyor.
8. If you are not satisfied with your changes, click Reset to undo the changes you made in the Drive
Conveyor dialog box since you launched it.
9. Click Close to exit the Drive Conveyor dialog box.

Drive conveyor with SCL Editor

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 You can use the SCL Editor to drive a conveyor during simulation or to verify its location at the current
simulation cycle.

To drive a conveyor:

Procedure

1. Launch the SCL Editor and open a program.

2. Press <Ctrl> + <Space> on your keyboard to add an SCL function.

3. Select DRIVE_CONVEYOR and set the POS parameter to the required position.

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 Note
• If an LB is controlling the conveyor during simulation, the value of the DRIVE_CONVEYOR SCL
command prevails.
• When driving a conveyor with the DRIVE_CONVEYOR SCL command, the system skips over conveyor
Control Points.
• The Drive Conveyor command in the Conveyor group of the Control tab drives a static conveyor, i.e.,
a conveyor at rest and not being simulated.
• Drive Conveyor takes the new position of the conveyor as input. If the value of the offset from the
beginning is larger than the current position, the conveyor moves in a positive direction. If smaller, it
moves in a negative direction.

To return the conveyor position during simulation:

Procedure

1. Launch the SCL Editor and open a program.

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To return the conveyor position during simulation:

2. Press <Ctrl> + <Space> on your keyboard to add an SCL function.

3. Select CONVEYOR_POSITION.

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 To track an object on the conveyor:

To track an object on the conveyor:

Conveyor line tracking is not directly related to SCL. However conveyor movement is initiated by SCL, and it
is the conveyor movement that launches line tracking.

Connection Mapping

Perform connection mapping

The Connection Mapping command enables you to import a .XLS file generated by an eCAD application
or to edit your own file manually. You can download ConnectionMappingTemplate.xlsx for this purpose.
You can access the Connection Mapping Template excel file from <Installation directory\Program
Files\Tecnomatix <version>\eMPower\Plc\MappingTemplates.

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 You can use the information contained in the file to automatically create signals and connect them to
entries and exits in Logic Behavior elements. The command also creates a report of the connections it has
made.

Procedure

1. Choose Control tab → Mapping group → Connection Mapping .

The Open dialog box appears.

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 Connection Mapping Source File

2. Select the relevant file and click Open.

Connection Mapping creates signals and connections in the relevant Logic Behavior elements.

Note
You can view the signals in the Signal Viewer.

Connection Mapping Source File

The following is an example of a Connection Mapping file generated by an eCAD application:

Click ConnectionMappingTemplate.xlsx to download the Excel spreadsheet template file for connection
mapping.

You can access the Connection Mapping Template excel file from <Installation directory\Program
Files\Tecnomatix <version>\eMPower\Plc\MappingTemplates.

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Connection Mapping Source File

The information is displayed in the file in the following columns:

• ResourceName — The name of the Logic Behavior element.

• CategoryNameProvider — This column is for future use.
• PinName — The name of the entry or exit.
• SignalWireName — The name of the signal.
• SignalType — The type of the signal: I - input ; Q - output. By default, if no SignalType was specified
(either the column is missing or contains an empty value), Entry will create an Output signal and Exit
will create an Input signal.
• Address — The address of the signal.
• Comment — The comment defined for the signal.
• PLC Resource - a resource in Teamcenter that also has an external connection.

Note
eCAD applications do not generate column headings, you must edit the file yourself to insert these.
Use the exact column names for the command to succeed. If necessary, add the CategoryNameProvider

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 Connection Mapping Report

column header and leave the column empty. If your eCAD application generates a file with a different
order of columns, this is acceptable.

For each line in the file, the command performs the following:

• Searches for the Logic Behavior specified in the ResourceName column.

• Checks if the signal specified in the SignalWireName column exists for the resource.
• If the signal does not exist, the command creates the signal.
• Connects the signal to the entry or exit specified in the PinName column.
• Populates PLC Resource with the value of PLC Resource in the source file.

The following figure shows the new signals in the Signal Viewer when the Connection Mapping command
has finished running.

Connection Mapping Report

When Connection Mapping has finished creating signals and connections, it generates a report and opens
it in Notepad. The following is an example of a Connection Mapping report:

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Connection Mapping Report

The following are possible error messages:

• If more than one Logic Behavior element have the same name, Connection Mapping creates signals for
only the first appearance and notes Duplicated resources detected <resource _name> in the report.
• If more than one entry or exit have the same name, Connection Mapping creates signals for only the
first appearance and notes Duplicated entry/exit detected <resource _name_entry_name> in the report.
• If more than one entry or exit have the same name and if they have different type definitions (for
example, one is defined as BOOL and another as WORD), Connection Mapping notes Impossible to
create/connect signals to <resource _name> - inconsistent definition> in the report.

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 Signal Mapping

Signal Mapping

Signal Mapping Tool

The Signal Mapping Tool enables you to map signals (replace one set of signal names and parameters
with another set) or to create new robotic signals, or both in the Robot Signals window. By default, the
tool does this for all the robots (any kinematic device with both a base frame and a tool frame) in the
scene. However, if you selected specific robot(s) prior to launching the command, the tool makes changes
only for those robot(s).

Process Simulate reads an Excel spreadsheet file (SignalMappingTemplate.xlsx) containing the new
signal names and other parameters (the spreadsheet must conform to the Format of the Signal
Mapping Tool). You can access this Excel file from <Installation directory\Program Files\Tecnomatix
<version>\eMPower\Plc\MappingTemplates.

You can automatically replace signal names created in one nomenclature with new names of another
nomenclature. Often, different engineers working on elements of a simulation choose signal names
differently. Creating the simulation can require standardizing thousands of signal names named by
different methods to one naming method. In this case, you can use the Signal Mapping Tool to replace
the names automatically. For example, you can use the Signal Mapping Tool to convert signals named in
mechanical engineering terminology to corresponding names in electrical engineering terminology. Signal
data is often kept in spreadsheet format and the Signal Mapping Tool enables you to use the spreadsheet
file directly to replace signal names in a simulation program.

When processing begins, the Signal Mapping Tool performs the following for each signal (row) in the
Excel file in order to ascertain whether signal mapping, creation, or both is required and to determine
whether the signal should be a default signal or not:

1. Analyzes the Signal Name:

• If the Signal Name contains a robot tag, for example <Robot>T3_OnOffSignal, Process Simulate
identifies currently selected robots (can be one or more) and replaces the robot tag with the robot
name to form the signal name for each selected robot.

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Run the Signal Mapping Tool

• Process Simulate checks if a signal with this new name exists:

◦ If the signal does not exist, Process Simulate creates a new signal for each selected robot.
◦ If the signal already exists, Process Simulate performs signal mapping to update the existing
signal with the parameters from the Excel file (if multiple robots have signals with the same
name, Process Simulate maps them all).
2. If the Signal Name does not contain a robot tag, for example T5_ExitSignal, Process Simulate
performs signal mapping to update the existing signal (non-robotic signal) with the parameters from
the Excel file (if multiple robots have signals with the same name, Process Simulate maps them all). If
the signal does not exist, Process Simulate skips to the next row in the spreadsheet file.

Note
If you have set an Internal Name for a non-robotic signal in the Excel file, the system returns an
error.

3. If the Function parameter is defined, the signal is created as a default signal and is connected to the
signal function noted in the Function cell.

The Signal Mapping Tool creates a log file during the mapping process, indicating any errors encountered
in processing the spreadsheet file. This can include errors that prevent the mapping of a signal in the
spreadsheet file. The log file is created in the directory of the input spreadsheet file.

The summary section of the log relates to robots only.

Run the Signal Mapping Tool

Procedure

1. Pick robots for which to apply signal mapping/creation.

Note
If no robots are selected, signal mapping/creation is applied to all the robots.

2. Choose Control tab → Mapping group → Signal Mapping .

Or

In the Signal Viewer, click .

The Open dialog box appears.

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 3. Browse to the prepared Excel spreadsheet file.
The following example creates all the default signals for all robots; it creates the signal list for each
robot according to the different entries, while replacing the keyword <Robot> by the name of each
robot instance.

4. Click Open to start the mapping process.

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 The cursor changes to an hourglass to indicate that mapping is in progress. If the mapping finishes
successfully, the tool creates signals for all the robots and displays the following dialog box.

Note
If the input spreadsheet file contains more than one worksheet, all of the worksheets are
processed.

5. Click Yes to view the log file or No to close the dialog box.
The Signal Viewer is updated:

6. If you wish to create a pose signal, add the pose tag to the Signal Name in the Excel file and set
Function = Pose Signal. For example:

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 Signal Mapping Tool warnings and errors

The system creates the following:

• A new pose sensor for each signal and nests them under the robot scope in the Object Viewer.
• A robot signal for each robot pose defined in the Pose Editor and displays them in the Signal
Viewer.

Signal Mapping Tool warnings and errors

Before processing the signals contained in the spreadsheet file, the Signal Mapping Tool checks the
currently-loaded program for duplicate signal names. If there are duplicate names, the Signal Mapping
Tool displays the following dialog box to inform you that it maps a new signal name from the input file to
only one of the signals in the currently-loaded program, even if other signals share the same name.

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Format of the Signal Mapping File

Click Cancel if you wish to abort the process before mapping any signals.

If the Signal Mapping Tool is unable to read the input file or unable to create a log file, a dialog box
appears indicating the error.

If the Signal Mapping Tool encounters a problem mapping a signal in the input file, it reports the details
in the log file. Each entry in the log file identifies the problematic signal by indicating the sheet and line
number of the signal in the input file. The Signal Mapping Tool reports two types of problems:

• Warning - The signal was mapped, but an unusual situation exists.

• Error - The signal was not mapped or only partially mapped. Partial mapping means that the signal was
mapped, but one or more optional attributes were not included in the mapping.

Example of a log file warning:

Warning: (Signals, line 2): The system changed the type of signal with the mechanical name T1_Signal2
from BOOL to INT.

Example of a log file error:

Error: (Create signals, line 2): Missing electrical name for the mechanical name <Robot>_T2_Created1.
Mapping entry was skipped.

Format of the Signal Mapping File

Click SignalMappingTemplate.xlsx to download the Excel spreadsheet template file for signal mapping.

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 Format of the Signal Mapping File

You can access the Signal Mapping Template excel file from <Installation directory\Program
Files\Tecnomatix <version>\eMPower\Plc\MappingTemplates.

The following table describes the columns of the signal mapping spreadsheet.

Column Required /
Name Optional Description
Signal Required Signal Name (also known as Mechanical Name). This is the name of
Name the signal in the current program. The Signal Mapping Tool replaces
this name during mapping with the Electrical Name.
Electric Required for The tool replaces a signal's Mechanical Name with this name during
al Name signal mapping mapping.

Optional for
robotic signal
creation
Internal Required for The Internal name of the robotic signal.
Name robotic signal
creation

Must be absent
for signal
mapping
Type Required for Describes the signal type. The possible values are BOOL, BYTE, WORD,
robotic signal DWORD, INT, DINT, REAL, and LREAL. The field is not case-sensitive.
creationOptional
for signal
mapping

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Format of the Signal Mapping File

Column Required /
Name Optional Description
Address Required for The signal's address must conform to the specific format described in
robotic signal Robot Signals. The address in this field of the input file replaces any
creationOptional previous Address value for the signal.
for mapping
Comme Optional A description of the signal. If a comment already exists for the signal
nt in the simulation program, the Signal Mapping Tool combines the old
comment with the new one from the input file. The resulting comment is
comprised of:

• The previous name of the signal.

• The new comment from the input file.
• The previous comment.
Functio Optional If you set this parameter to a robot function name, this signal becomes a
n default signal. In this case, it is recommended to set the Signal Name to
a string that clearly indicates the function name.

• If you omit this parameter, the signal is created but not as a default
signal.
• If you enter the name of a function that does not exist, the system
returns an error.
Ignored Optional If this parameter is set to Yes, the system ignores the data for this signal.
If set to No or undefined, the system takes all the data into account.

Note
If Skip WAIT commands in the Motion tab of the Options dialogis
cleared, the Ignored column is hidden.

Note
The Signal Mapping Tool terminates processing when it finds the expression EOF in the first cell of a
line or if there are 200 blank lines.

Additional information about the signal mapping spreadsheet:

• The first row is used for column headers (is not processed).
• Blank rows do not interrupt signal processing.
• The Type and Address fields are optional for signal mapping.
• The Signal Name is always required and the Electrical Name is required for signal mapping.

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 Import Signals

Import Signals

The Import Signals command enables you to import signals stored in a file - these signals may have been
generated by another application or their parameters may have been written manually. The command runs
smoothly and quickly even when importing thousands of signals.

After loading the signals from the file as raw data, you can manipulate the signals for optimal results
before importing them.

The command recognizes spreadsheet files (*.xls, *.xslx, *.xslm, *.csv) and text files (*.sdf from TIA portal
exports, *.txt, and any other text file).

The command recognizes spreadsheet files (*.xls, *.xslx, *.xslm, *.csv), text files (*.sdf from TIA portal
exports, *.txt, and any other text file), and TIA project files.

Note
Important information concerning the TIA Portal:

• TIA Portal is supported from version 14.0 SP1 onwards.

• You can only import signals from a TIA Portal project file if:
◦ TIA Portal is installed on your computer. If TIA Portal is installed on another machine, users can
export signals to an SDF text file and then import the file to Process Simulate.
◦ Your user account is associated with the Siemens TIA Openness local user group (the computer
requires restarting after adding the user to the group). Failing this, the operating system issues the
following meesage when attempting to access a TIA Portal project file:

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 • When prompted, you have to approve access to the TIA Portal:

Click Yes to all to approve all future access attempts by the Tune process to the TIA Portal.
• If the \HKEY_LOCAL_MACHINE\SOFTWARE\Siemens\Automation\Openness\<TIAP
Version>\PublicAPI\14.0.1.0\Siemens.Engineering registry key cannot be found, Process Simulate
will fail to access the TIA Portal.

The following table lists the recognized signal types and notes their equivalent Process Simulate names.

External Signal Type Process Simulate Name

USInt BYTE
UDInt DWORD

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 To import signals:

External Signal Type Process Simulate Name

Bool BOOL
Byte BYTE
Word WORD
Dword DWORD
Int INT
Dint DINT
Lreal DINT
UINT WORD

Note
Importing any other signal type returns an error.

This video demonstrates how to import signals.

Note
Videos are not included in PDF. To access videos, use HTML.

To import signals:

Procedure

1. Choose Control tab → Mapping group → Import Signals .

Or

In the Signal Viewer, click .

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To import signals:

2. In File name, navigate to the required signal file and click Open to load it in the Raw data table.

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 To import signals:

If you are importing signals from a spreadsheet file or a TIA Portal project file (with AP14 or AP15
suffix), the Header rows parameter appears, and if from a text file, the Encoding and Delimiter
parameters also appear.
3. Set Header rows to match the number of header rows in your signal file.

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To import signals:

4. Set the Windows Encoding according to the encoding scheme employed in your text signal file. This
field is not displayed when loading a spreadsheet signal file.
5. Set the Delimiter used in your text signal file to separate the various parameters. This field is not
displayed when loading a spreadsheet signal file. In the following example the system is unable to
parse the signal file as it fails to detect the delimiter.

The following example shows the result of loading the same file with the correct delimiter.

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 To import signals:

6. The Import Signals table (below the Raw data table) contains columns for Signal Name, Type,
Address and Comment. These are the attributes required for signals when importing them into
Process Simulate (Comment is optional). Typically, the raw data is not formatted in this way, as
illustrated in the following example.

Drag the relevant columns from the Raw data table to the Import signals table.

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To import signals:

Note
The header items you selected by setting Header rows are omitted when dragging the signals into
the Import signals table.

7. Click Import. Process Simulate imports the signals, displays them in the Signal Viewer, and prompts
you to view the import log.

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 To import signals:

8. Click Yes to view the log or No to complete the import action.

Note
• If you import a signal with the same Signal Name as a signal already listed in the Signal Viewer,
Process Simulate overwrites the signal parameters.
• You cannot overwrite the properties of signals connected to a Logic Resource or sensor.

9. Click Cancel to close the Import Signals dialog box.

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Extract Signal List from S7 Program

Extract Signal List from S7 Program

The Extract Signal List from S7 Program command enables you to extract a list of signals configured in
an S7 program to an Excel file which can later be used for Signal Mapping.

Note
The Tag access option you select in PLCSIM Advanced specifies which types of signal are extracted.

Procedure

1. Choose Control tab → Mapping group → Extract Signal List from S7 Program .

2. Select a connection and click Validate Connection to verify the program is running.
3. Click Export Signals.
An Excel file is created similar to the following.

The excel shows all PLC Tags configured in the PLC program.

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 External Mapping Tool

You can use this file to import the signals into the Signal Viewer. For information on configuring external
connections, refer to Configure External Connections.

External Mapping Tool

The External Mapping Tool appears as an icon in the Signal Viewer. It enables you to map existing signals
in an S7 (Simatic) project to the signals used in a Process Simulate simulation.

Note
Due to the common use of Simatic software with Process Simulate, Simatic .sdf format is the default.
However, Process Simulate also allows you to use other third party software. The .sdf file format is as
follows:

Symbol Name (24 char.) | Address (12 char.) | Data Type (10 char.) | Comment (80 char.)

1. Choose Control tab → Mapping group → External Mapping Tool .

or

In the Signal Viewer, click External Mapping Tool .

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External Mapping Tool

Note
The Signal List is populated.

2. Click Browse.
The File Open dialog box appears.
3. Browse to the .SDF file containing the signals you want to map to Process Simulate and select the file.
4. Click Open.
The Imported Symbol Name list (in the lower pane) is populated with the Simatic signals from the
selected .SDF file.
5. To map a Simatic signal to a Process Simulate signal:
• Select a pair of signals to map, one from the Signal List and one from the Symbol Name list.

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 External Mapping Tool

• Click Map.
The relevant Signal Name, Address, and Comment fields in the Process Simulate window are
updated to match those in the Simatic window.
6. To add signals from the imported Symbol Name list that have not been modeled in Process Simulate
to the Process Simulate SignalsList:
• Select the signal to be modeled from the imported Symbol Name list.
• Click Add.
The newly modeled signal appears in the Process Simulate Signal List.

Note
It is possible to model multiple signals by selecting them in the imported Symbol Name list before
clicking Add. However, you must select the signals as a block.

7. To add all signals from an .SDF file that has no existing address in Process Simulate, click ImpMap.

Note
The system applies normal mapping for signals that have an existing address in Process Simulate.

8. In External Connection, specify a remote server to which to connect the signals from the S7 Symbol
List. For information on how to configure external connections, see the PLC tab of the Options
dialog.

To map signals from a Simatic project to Process Simulate:

1. Choose Control tab → Mapping group → External Mapping Tool .

or

In the Signal Viewer, click External Mapping Tool .

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External Mapping Tool

Note
The Signal List is populated.

2. Click Browse.
The File Open dialog box appears.
3. Browse to the .SDF file containing the signals you want to map to Process Simulate and select the file.
4. Click Open.
The Imported Symbol Name list (in the lower pane) is populated with the Simatic signals from the
selected .SDF file.
5. To map a Simatic signal to a Process Simulate signal:
• Select a pair of signals to map, one from the Signal List and one from the Symbol Name list.

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 Rename by Resource

• Click Map.
The relevant Signal Name, Address, and Comment fields in the Process Simulate window are
updated to match those in the Simatic window.
6. To add signals from the imported Symbol Name list that have not been modeled in Process Simulate
to the Process Simulate SignalsList:
• Select the signal to be modeled from the imported Symbol Name list.
• Click Add.
The newly modeled signal appears in the Process Simulate Signal List.

Note
It is possible to model multiple signals by selecting them in the imported Symbol Name list before
clicking Add. However, you must select the signals as a block.

7. To add all signals from an .SDF file that has no existing address in Process Simulate, click ImpMap.

Note
The system applies normal mapping for signals that have an existing address in Process Simulate.

8. In External Connection, specify a remote server to which to connect the signals from the S7 Symbol
List. For information on how to configure external connections, see the PLC tab of the Options
dialog.

Rename by Resource
The Rename by Resource command enables you to automatically propagate a resource name change to
all the default signals that derive their names from the selected resource.

1. From the Object Viewer, select the resource you wish to rename, and edit its name.
2. While the resource is still highlighted, choose Control tab → Mapping group → Rename by

Resource .
Process Simulate automatically updates the names of all pose and default signals that correspond to
the selected resource.

Note
• The command only works for pose and default signals that use the standard naming convention (e.g.,
<Resourcename>_AT_<posename>).

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Signal Monitoring

Signal Monitoring

Although the Simulation Panel shows signal values, it can still be difficult to debug complex simulations. To
facilitate debugging, the Signal Monitoring window enables you to view signal values in the expressions in
which they participate.

You can also use Signal Monitoring to evaluate entire Logic Blocks, or only exits, parameters or actions.
After selecting a Logic Block in the Object Viewer, choose Control tab → Debug group → Signal

Monitoring . The Joint Value Sensor and Joint Distance Sensor Logic Block parameters are not
supported.

Procedure

1. To access the Signal Monitoring window, select a module entry from the Module Editor and choose

Control tab → Debug group → Signal Monitoring .

Note
You can select one or more modules from the Modules Viewer and open it in the Signal
Monitoring window.

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 The Signal Monitoring window is displayed with the selected signal expression populating the
Watch Expressions list. In this example, you can view the same signals in all of the following places:
• The Simulation Panel - One signal on each line with status information.
• The Signal Viewer - One signal on each line with signal information.
• The Signal Monitoring window - In the context of the expression which comprises the signal logic.
◦ Items that evaluate to True are highlighted in green.
◦ Items that evaluate to False are highlighted in red.
Each signal participating in the expression is color coded; green if true or red if false and the
expression result noted in the Value column.
The Path column displays the expression’s path if it is nested in a Logic Block (see Logic Resource) or
Module (see Modules Viewer) in the format: Resource, Element, Expression, Value.

Note
If you have nested functions inside functions, for example:

SR(TON(SET,TimeDelay),TON(RESET,TimeDelaay))

the Signal Monitoring window displays all the relevant expression values.

2. Connect to a simulation in any of the following ways:

• Change a signal value in the Simulation panel and click Connect to Simulation to refresh
the Signal Monitoring window. For example, setting the kr2210_2*_end_gripper2 input to False,
causes the following result.

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 This method enables you to easily set or clear selected signals and track the effect on the
expression in which they participate. If the expression is complex, this can be very useful.

• Run a simulation and click Connect to Simulation at any point to see the signal values in
context at any stage.

• Run a simulation and double-click Connect to Simulation to see the signal values continually
updated in context as the simulation runs.
3. If the expression is complex, you can click the triangle symbol to its left to break it down into two
component expressions. The Signal Monitoring window duplicates the first part of the expression (up
to the shaded operator) on the next line and the remainder on the third line.

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 You can repeat this until the original expression is broken down into its simplest components.

Note
Process Simulate analyzes the expression and automatically selects an operator that divides the
expression into two logical components.

4. You can expand the Enter Expression area, compose an expression, and click Add To Watch to
add it to the watched expressions.

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 You can also select a watched expression and click Remove From Watch to remove it from the
watched expressions.

5. Optionally, toggle the Apply Styles button.

6. Click Close to close the Signal Monitoring window.

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 Operation Start Condition

Operation Start Condition

If an operation fails to start during a simulation, you can check the starting conditions for that operation to
discover the fault and fix it.

To check the starting conditions of an operation:

1. Choose Control tab → Debug group → Operation Start Condition .

The Operation Start Condition window appears.

2. View the Boolean start conditions. Each line in this window represents a combination of signals
required to enable the operation to begin.
3. Click OK to close the window.

Robot Modules
After loading pre-configured robot module files, the Robot Modules interface enables you to view a list of
active robot modules on a given robot instance. The Robot Modules interface also enables you to delete
robot modules.

Robot modules are robot system modules; they implement one or several (depending on the controller)
non-motion procedures and functions (such as exchange signals) in the robot's real controller syntax, and
they may be called from within trajectories, similar to robot macros.

Robot modules serve the same purpose as robot macros with the following added advantages:

• Robot modules provide support for input parameters and returning of values.
• Robot modules enable you to maintain procedures with identical names but different content for each
robot instance.

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Robot Modules

• Robot modules enable you to simulate Parallel robot tasks when running in Line Simulation mode.
You can edit parallel tasks even in Standard mode.

To access the Robot Modules interface, select a robot and choose Control tab → Robot group → Robot

Modules .

The Robot Modules dialog box appears.

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 Run parallel robot tasks

Button Name Description

Robot Enables you to select another robot and load the relevant
modules.
Add File(s) Adds one or more selected files to the list. Opens a browser to
select files. Clicking Open in the browser adds the files to the
Robot Modules dialog box list.
Remove File Removes selected files from the list in the dialog box.

Edit file Opens the robot module file enabling you to make changes
as required. The file opens in the application defined in your
system's operating system for its format. For example, you
may have set *.src files to open in Notepad++.

Run parallel robot tasks

When running in Line Simulation mode, it is possible to simulate additional robot tasks in parallel with the
robot's motion task. For example, while the robot is performing an operation with multiple locations, it can
run a parallel task that calculates and modifies robot variable values according to its current position. The
available parallel tasks are listed in the lower pane (whose name varies for different robot vendors). Refer
also to Robot Modules.

Currently, this feature is only supported by robots manufactured by:

• Kuka: Only one task can be run in parallel with the robot motion. Select the sps.sub file in the lower
pane, and click Open.
• Fanuc: You can add up to eight parallel tasks to the Background logic list. Each task is evaluated once
each time interval during simulation.
• ABB: You can add up to ten parallel tasks to the Multitasking list. Each task is evaluated once each time
interval during simulation.

Additionally, it is possible to view parallel task messages in the Simulation Monitor.

To run a parallel task:

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 Procedure

1. In the lower pane of the Modules Viewer, click , navigate to the file containing the task you wish to
add, and click Open.

2. If necessary, click to remove the current parallel task if you wish to cancel it or replace it with
another.

3. You can click if you wish to edit the file.

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 Robot Signals

4. Click Close to save your changes.

5. Run the simulation. You can view the motion task and the parallel task in the Simulation Monitor.
In the following example, the kr2180 tab tracks the robot motion task and the kr2180/sps.sub tab
tracks the parallel task.

Robot Signals

Connect between PLC and OLP Signals in Robots

The Robot Signals option enables you to make a connection between a PLC signal and its corresponding
OLP signal in a robot, as shown in the following diagram.

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Connect between PLC and OLP Signals in Robots

1. Select a robot from the Graphic Viewer.

2. Choose Control tab → Robot group → Robot Signals .

The Robot Signals dialog box appears - it is unpopulated.

The Robot Signals dialog box contains the following fields:

• PLC Signal Name. Name of the PLC signal
• Robot Signal Name. Name of the robot signal
• I/O. Indicates whether the signal is an input or an output. An input to the PLC is an output to the
robot and vice versa.
• Signal Function. Defines the signal's function
• External Connection. Defines remote server for signal simulation. For information on how to
configure external connections, see PLC tab.
• Comments. Freehand note about the signal
• HW Type. The hardware type of the signal
• Address. The address of the signal
3. To create a new PLC input signal:

• Click .
Input Signal dialog box appears.

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 Connect between PLC and OLP Signals in Robots

• Enter the PLC signal name.

• Enter the Robot (OLP) signal name.
• Click OK.
4. To create a new PLC output signal:

• Click .
The New Output dialog box appears.

• Enter the PLC signal name.

• Enter the Robot (OLP) signal name.
• Click OK.
5. To edit an existing signal name:
• Double-click the signal you want to edit in the Robot Signals dialog box.
The Input Signal or Output Signal dialog box appears, as appropriate.
• Edit the signal name.
• Click OK.

Note
The PLC Signal Name can also be edited in the Robot Signals dialog box.

6. Select a signal, click Signal Function, and select a signal type.

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Connect between PLC and OLP Signals in Robots

7. If necessary, select a signal and click to delete it.

8. To cause simulations to ignore OLP WAIT signals, activate the Ignore in Simulation/Robot signals
option with the relevant selection from the dropdown list in Simulation tab. This displays the
Ignored column in the Robot Signals dialog box the next time you open it.

Click the checkboxes of the signals that the simulation should ignore. The simulation also skips OLP
WAIT signals that are not present in the loaded scope.

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 Create a Program Pause Signal

Create a Program Pause Signal

Process Simulate supports one Program Pause robot output signal per robot. This is a soft emergency
stop signal that pauses the robot when the signal turns True. When the signal subsequently turns False,
the robot continues from the position in which it stopped (both spatially and from the same point in the
program). This signal may be used, for example, if a light sensor detected a worker entering a zone shared
by humans and robots. When the worker enters the zone, the robot pauses and when the worker exits the
zone, the robot resumes from exactly the point at which it stopped.

Note
This is different to the Program Emergency Stop signal, where you must return the robot to its home
position before restarting the program simulation.

1. Create a new output signal (see Sort Signal Viewer).

2. In the Signal Function column of the Robot Signals dialog box, select Program Pause.

Create a full set of default robot signals

• Select a robot and click .

The fully populated Robot Signals dialog box appears.

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Using the reduceSpeed signal

When running in Line Simulation mode, and after you define a robotic program, you can use the
reduceSpeed signal to control the speed of robot motion during simulation. By default, the signal's value
is set to 0% change to the robot's full speed. Setting it to 30, for example, causes the robot to move at 30%
of its full speed, and any value over 100 is ignored.

The following example shows that when you set the signal to 200, the robot moves at full speed (400),
and when you set it to 50, the robot moves at half its full speed (200).

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 Import and export Robot Signals

Import and export Robot Signals

You can import signals generated by external applications and use them in Process Simulate.
Similarly, you can export signals created in Process Simulate to use them in other applications.
The process is accomplished using an Excel spreadsheet (RobotSignalsTemplate.xlsx) to store
the signals. You can access this excel file from <Installation directory\Program Files\Tecnomatix
<version>\eMPower\Plc\MappingTemplates.

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Import and export Robot Signals

Observe the following formatting rules when creating an Excel spreadsheet for signal import/export:

• The column headers must be exactly as shown in this example. If any are different, the system will
return an error.
• The columns must be in exactly the order shown in this example. No information may be added before,
between, or after these columns.
• The Excel spreadsheet is not case-sensitive.
• If any of the following information is missing, the system will return an error: RobotInternalName, I_Q,
or TYPE.
• The following parameters are optional: Prefix, InterfaceName, Address, and Comment.
The system converts between Excel signal properties and Process Simulate properties as follows:

Import Export
Excel Process Simulate Excel Process Simulate
InterfaceName PLC Signal Name InterfaceName PLC Signal Name
RobotInternalName Robot Signal Name RobotInternalName Robot Signal Name

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 Import and export Robot Signals

I_Q I/O I_Q I/O

Type PLC signal Type Type PLC signal Type
Address PLC Address Address PLC Address
Comment Comment Comment Comment

Rules for Formatting Imported Signal Names

The system uses the following rules to format imported signal names:

• If there is an InterfaceName, this is used as the PLC SignalName.

• If InterfaceName is missing, PLC SignalName is formatted as PREFIX + RobotInternalName.
• If both InterfaceName and PREFIX are missing, PLC SignalName is formatted as <current robot instance
name> + RobotInternalName.
• RobotInternalName is mandatory. If it is missing, the system generates an error in the report log for the
signal.
• If Address is missing, the signal is imported and its PLC Address remains undefined.
• If TYPE or I_Q are missing, the signal is not imported.

Note
The Excel file does not contain a dedicated Signal Function area. Rather, the system exports Signal
Function information as comments in the Excel file. Therefore, if you wish to prevent losing this
information after exporting it from one project and importing it into another, use the comments in the
Excel file as a guide to edit the Robot Signals dialog box.

To import signals:

1. In the Robot Signals dialog box, click .

The Open dialog box appears.

Note
If Excel is not installed on your computer, the system returns an error.

2. Navigate to the Excel spreadsheet containing the signals you wish to import, select the file, and click
Open.
The system processes the Excel spreadsheet and imports the signals.
If any of the imported signals already exist in the system, the Warning: Existing Signals dialog box
appears.

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Import and export Robot Signals

Each duplicate signal is listed together with its current properties (as noted in Process Simulate) and
its imported properties (as noted in the Excel file).
• For each duplicate signal you wish to import, check Overwrite and for each you wish to retain,
clear Overwrite.
The system populates the Robot Signals dialog box with the new signals.

3. Manually add, modify, or remove signals as required, using the Robot Signals dialog box.
4. Click Apply.
The system creates signals from the Robot Signals dialog box, displays them in the Signal Viewer,
and opens the report log. You can set the log file directory in the options, PLC tab.
The report log displays its own full path and file name - you can then move the report log and save it
as required. The report log lists all the signals that were imported, created, modified, and deleted. The
following is an example of a report log:

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 Import and export Robot Signals

C:\DOCUMENTS and SETTINGS\ADMININISTRATOR\LOCAL SETTINGS\Temp\\ReportInfo.txt

====================SUCCESSFUL ACTIONS======
Imported signals
PLC Signals Name:InterfaceName1, Robot Signal Name:RobotInternalName1, I/O:I, HW Type:BOOL,
Address:48.0, Comment:comment1
PLC Signals Name:Prefix1RobotInternalName2, Robot Signal Name:RobotInternalName2, I/O:Q, HW
Type:INT, Address:45.0, Comment:comment2
Created signals
PLC Signals Name:InterfaceName1, Robot Signal Name:RobotInternalName1, I/
O:PcmFromRobotSignal,
HW Type:BOOL, Address:48.0, Comment:comment1
Modified signals
Deleted signals
PLC Signals Name:Prefix1RobotInternalName2, Robot Signal Name:RobotInternalName2, I/
O:PcmToRobotSignal,
HW Type:INT, Address:45.0, Comment:comment2
====================NOTIFICATIONS=======================
====================WARNINGS===========================
====================ERRORS=============================
The import finished successfully with 0 errors, 0 warnings;
5. View the report log and close it.

Note
If you make manual changes to the Robot Signals dialog box after clicking Apply (after the system
has created the new signals), the changed signals do not appear in the report log.

The following rules apply to imported signals that already exist in the system:

If And the properties And the properties Then

of the signal listed of the signal listed
below are the below are different
same as another to the other signal
signal in the in the system
system
Signal is not PLC Name H/W Type or Address • Append _old to the name of
connected to any or Comment or the existing signal. This signal is
resources

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Import and export Robot Signals

Robot Signal Name added to the Notifications section

or I/O of the report log.
• Create the new, imported signal
and connect it to the current
robot.
Signal is connected to PLC Name and I/O H/W Type or Address • Change the different properties of
the current resource or Comment or the existing signal.
(the selected robot) Robot Signal Name
If the HW Type of the existing signal
cannot be changed (the signal is a
program signal), the system creates
a new signal with a numeric suffix.
PLC Name I/O • Delete the existing signal.
• Create a new signal.
• Connect the new signal to the
current robot.
PLC Name and H/W — No action
Type and Address
and Comment and
Robot Signal Name
Signal is connected PLC Name — • Create a new signal.
to a different
• Add a numeric suffix to the PLC
resource(s) (a robot
Name.
or logic block)

To export signals:

1. In the Robot Signals dialog box, click .

The Save As dialog box appears.

Note
If Excel is not installed on your computer, the system returns an error.

2. Select a path and file name and click Save.

The system creates an Excel file with information from the selected signals. You can use this in other
applications.

Note
Process Simulate does not export signals in the Robot Signals dialog box that have not yet been
created in the system. For example, signals that were created manually after clicking Apply.

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 Robot Signals Copy Paste

Robot Signals Copy Paste

The Robot Signals Copy Paste command enables you to copy a signals table from a source robot (i.e., an
existing robot) to a target robot (i.e., a new robot) or remove a signals table from a source robot and paste
it into a target robot. You can edit signal name substrings during the copy-paste procedure.

To copy a signals table from a source robot to a target robot:

1. In the Object Viewer, select the source robot.

2. Choose Control tab → Robot group → Robot Signals Copy Paste .

The Robot Signals Copy Paste dialog box appears.

Note
The name of the source robot appears in the From Robot field.

3. Click the To Robot field to activate the field.

4. In the Object Viewer, select the target robot.
The name of the target robot appears in the To Robot field.
5. Select the Copy Signals checkbox.
The Change PLC Signal Name Substring fields become active.
6. To define a search string for PLC signal names in the source robot, enter the search string in the From
field.
7. To replace the search string with a new PLC signal name, enter the replacement string in the To field.

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Create Robot Operation Start Signals

8. Click OK.

To remove a signals table from a source robot and paste it into a target robot:

1. In the Object Viewer, select the source robot.

2. Choose Control tab → Robot group → Robot Signals Copy Paste .

The Robot Signals Copy Paste dialog box appears.

Note
The name of the source robot appears in the From Robot field.

3. Click the To Robot field to activate the field.

4. In the Object Viewer, select the target robot.
The target robot name appears in the To Robot field.
5. Ensure that the Copy Signals checkbox is clear.
6. Click OK.

Create Robot Operation Start Signals

The Create Robot Operation Start Signals command creates Start signals for all robotic operations
associated with selected robots in the study. The command is enabled when you select at least one robot
in the study.

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 Signal Generation

Note
In contrast to other signal creation commands, Create Robot Operation Start Signals is not enabled
when you select operations. To enable this command, you must select one or more robots.

1. Select one or more robots in any viewer.

2. Choose Control tab → Robot group → Create Robot Operation Start Signals .
Process Simulate creates a new Start signal for each robotic operation associated with the selected
robots that is without a currently defined Start signal. The new Start signals appear in the
Signal Viewer.
Each new Start signal is named as follows:
<OperationName>_start

Note
• The system ensures that the name is unique by appending a number to the default name if
necessary.
• Triggering the created signal will start the robot operation only in PLC mode.

Signal Generation

Creating Signals, Sensors and Operations

The following Signal Generation commands are available for creating signals, sensors and operations for
selected objects in a study:

Button Suboption Description

Create Device Start Signals Creates Start signals for selected
device operations. Refer to
Create Device Start Signals.
Create All Flow Start Signals Creates Start signals for all flow
operations in the study. Refer to
Create All Flow Start Signals.
Create Non-Sim Start Signals Creates Start signals for selected
non-sim operations. Refer to
Create Non-Sim Start Signals.
Create Device Operations/ Creates the following for selected
Signals poses of a device:

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Create Device Start Signals

Button Suboption Description

• A MoveToPose signal for
selected poses.
• Device operations for moving
a device between selected
poses. Creating the device
operations automatically
creates an End signal for each
device operation.
• A pose sensor for selected
poses. Creating the pose
sensor automatically creates an
AT signal for the device.

Refer to Creating Operations

and Signals for Devices.
Replace and Connect Device Enables you to replace an existing
device with a new one, while
maintaining the functionality
and operational behavior of the
original device. Refer to Replace
and Connect Device.

Note
The above commands only create signals, sensors, and device operations for objects that do not already
have those signals, sensors, or device operations defined.

Each new Start signal is named as follows:

<OperationName>_start

Note
The system ensures that the name is unique by appending a number to the default name if necessary.

Create Device Start Signals

The Create Device Start Signals command creates Start signals for selected device operations in the
study. The command is enabled when you select at least one device operation in the study.

1. Select one or more device operations in any viewer.

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 Create All Flow Start Signals

2. Choose Control tab → Operation Signals group → Create Device Start Signals .
Process Simulate creates a new Start signal for each device operation. The new Start signals appear in
the Signal Viewer.
Each new Start signal is named as follows:
<OperationName>_start

Note
The system ensures that the name is unique by appending a number to the default name if necessary.

Create All Flow Start Signals

The Create All Flow Start Signals command creates Start signals for all flow operations in the study.

To create all Flow start signals, choose Control tab → Operation Signals group → Create All Flow Start
Signals .

Process Simulate creates a new Start signal for each flow operation without a currently defined Start signal.
The new Start signals appear in the Signal Viewer.

Each new Start signal is named as follows:

<OperationName>_start

Note
The system ensures that the name is unique by appending a number to the default name if necessary.

Create Non-Sim Start Signals

The Create Non-Sim Start Signals command creates Start signals for selected non-sim operations in the
study. The command is enabled when you select at least one non-sim operation in the study.

1. Select one or more non-sim operations in any viewer.

2. Choose Control tab → Operation Signals group → Create Non-Sim Start Signals .
Process Simulate creates a new Start signal for each non-sim operation without a currently defined
Start signal. The new Start signals appear in the Signal Viewer.
Each new Start signal is named as follows:

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Create Device Operations/Signals

<OperationName>_start

Note
The system ensures that the name is unique by appending a number to the default name if
necessary.

Create Device Operations/Signals

Creating Operations and Signals for Devices

The Create Device Operations/Signals command is enabled when you select at least one non-robot
device, but it is disabled if a robot is selected. The command performs the following functions:

• Creates MoveToPose signals. MoveToPose signals appear in the Signal Viewer using the following
naming convention:
<DeviceName>_to_<NameOfPose>

Note
The system ensures that the name is unique by appending a number to the default name if necessary

• Creates pose sensors for selected poses. The pose sensors appear in the Object Viewer as a child of the
device, using the following naming convention:
<DeviceName>_at_<PoseName>

Note
The system ensures that the name is unique by appending a number to the default name if necessary.

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 Creating Operations and Signals for Devices

• Creating the pose sensor automatically creates an AT signal for the device-sensor combination. The AT
signal appears in the Signal Viewer, using the following naming convention:
<DeviceName>_at_<PoseName>

Note
The system ensures that the name is unique by appending a number to the default name if necessary.

• Creates device operations for moving the device between pairs of poses.
For each pair of selected poses (PoseA and PoseB), the Create Device Operations/Signals command
creates two operations. One operation moves the device from PoseA to PoseB and the other moves the
device from PoseB to PoseA. The device operations appear in the Operation Viewer in the Operations/
LineOperation path, in the GeneratedOps compound operation, using the following naming convention:
<DeviceName>_from_<NameOfPoseA>_to_<NameOfPoseB<

Note
The system ensures that the name is unique by appending a number to the default name if necessary.
If the GeneratedOps compound operation does not exist, running the Create Device Operations/
Signals command creates it.

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Creating Operations and Signals for Devices

Creating the device operations automatically creates an End signal for each device operation. The End
signal appears in the Signal Viewer, using the following naming convention:
<DeviceName>_from_<NameOfPoseA>_to_<NameOfPoseB>_end

Note
The system ensures that the name is unique by appending a number to the default name if necessary.

The Create Device Operations/Signals command operates in one of two modes.

• Single device selection mode: When you select one device and select the Create Device Operations/
Signals command, the Create Device Operations/Signals dialog box appears, displaying options to
configure before executing the command.

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 Creating Operations and Signals for Devices

◦ The Create Device Operations/Signals dialog box displays all of the poses defined for the selected
device. By selecting a set of poses, you can configure the Create Device Operations/Signals
command to create new operations that move the device between the selected poses.
◦ The Create Device Operations/Signals dialog box includes a Jump to Selected Pose button, enabling
you to move the device to a desired pose.
◦ Using the options in the Create for marked poses area, you can configure the Create Device
Operations/Signals command to do one of the following:
1. Create only MoveToPose signals and pose sensors.
2. Create MoveToPose signals, pose sensors, and device operations for moving the device between
the selected poses.
◦ Multi-selection mode: When you select more than one device, the Create Device Operations/
Signals command operates in multi-selection mode.

Note
The Create Device Operations/Signals command does not display a dialog box when operating in
multi-selection mode.

The multi-selection mode operates only on devices that fulfill one of the following criteria:
◊ The device has two poses and neither pose is Home.
◊ The device has three poses and one of them is Home.

Note
The Create Device Operations/Signals command processes all selected devices that meet one
of the above criteria. If one or more of the selected devices do not meet the criteria, a warning
message appears, indicating which devices were not processed.

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Create device operations and signals for one device

When operating in multi-selection mode, the Create Device Operations/Signals command performs
the following functions for each valid device:
1. Creates a MoveToPose signal for each pose defined for the device.
2. Creates a pose sensor for each pose of the device.
3. Creates device movement operations, depending on the number of defined poses.
◦ For devices that have two defined poses, the Create Device Operations/Signals command creates
two operations. One operation moves the device from Pose A to Pose B and the other moves the
device from Pose B to Pose A.
• For devices that have three defined poses, one of which is Home, the command does not create
operations for the Home pose, but it does create two device operations for the other two poses. One
operation moves the device from Pose A to Pose B and the other moves the device from Pose B to
Pose A.

Create device operations and signals for one device

Procedure

1. Select one device in any viewer.

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 Create device operations and signals for more than one device

2. Choose Control tab → Operation Signals group → Create Device Operations/Signals .

The Create Device Operations/Signals dialog box appears. The Device Poses area contains all of the
poses of the device.

Note
You can move the device to a specific pose by selecting the pose and clicking
Jump to Selected Pose. Double-clicking a pose performs the same action.

3. Select the checkboxes of all of the desired poses.

4. In the Create for marked poses area, select one of the following:
• Signals and Operations: Creates MoveToPose signals, pose sensors, and device operations for
each of the poses configured in the Device Poses area.
• Only Signals: Creates MoveToPose signals and pose sensors for each of the poses configured in the
Device Poses area.
5. Click OK.
Process Simulate creates the following:
• MoveToPose signals. The signals appear in the Signal Viewer.
• Pose sensors. The pose sensors appear in the Object Viewer as a child of the device. Creating the
pose sensors automatically creates an AT signal for the device-pose combination. The AT signal
appears in the Signal Viewer.
• Device operations (if Signals and Operations is selected in the Create Device Operations/Signals
dialog box). The operations appear in the Object Viewer in the Operations/LineOperation path, in
the GeneratedOps compound operation. Creating the device operations automatically creates an
End signal for each device operation. The End signal appears in the Signal Viewer.

Create device operations and signals for more than one device

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 Procedure

1. Select the desired devices in any viewer.

2. Choose Control tab → Operation Signals group → Create Device Operations/Signals .

For each selected device, Process Simulate creates the following:
• MoveToPose signals. The signals appear in the Signal Viewer.
• Pose sensors. The pose sensors appear in the Object Viewer as a child of the device.
• Creating the pose sensors automatically creates an AT signal for the device-pose combination. The
AT signal appears in the Signal Viewer.
• Device operations. The operations appear in the Object Viewer, in the GeneratedOps compound
operation.
• Creating the device operations automatically creates an End signal for each device operation. The
End signal appears in the Signal Viewer.

Generate Appearances
The Generate Appearances command generates appearances of the parts used, referenced, and assigned
to the selected operation.

If no operation is selected, the command generates all possible appearances.

Process Simulate searches the parents of the operation (to which the Appearance is assigned) for the type
defined in the AdminConsole (refer to the Tecnomatix Administration documentation in AdminConsole
-> Business Modeler -> Line Simulation -> Station Operation Class section). If such a parent is found, the
Appearance is created relative to this parent. Otherwise, the Appearance is created relative to a resource
with the same type as defined in the AdminConsole Station Resource Class setting. If the defined resource
type is also not found, the Appearance is created relative to the cell origin.

Note
See more information on the Business Modeler settings in the AdminConsole Help Topics under Line
Simulation - Customized Types Definition in the Tecnomatix Administration documentation.

1. Optionally, select an operation in the Object Viewer.

2. Choose Control tab → Material Flow group → Generate Appearances .

Appearances of the parts used, referenced, and assigned to the selected operation and all its children
appear in the Object Viewer or Graphic Viewer.
If no operation is selected, the new appearances are placed at 0.0.0. You can relocate useful
appearances and delete others.

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 Substituting Instances

Generate Appearances is used to create new operations that require a processed part and to add or edit
events or OLP commands that refer to parts.

Substituting Instances
The Substitute Instances command enables you to replace all references to selected instances in the
study by a reference to a master instance that you designate. Referenced items, to which weld location
operations are assigned, include part instances, which are referred to by event types or OLP commands.

1. Choose Control tab → Material Flow group → Substitute Instances to display the Substitute
Instances dialog box.

2. Select an instance from the Available Instances list.

3. Click in the upper region of the dialog box, next to the Master field to define the selected
instance as the master instance.
The selected instance appears in the Master field.
4. Do one of the following:
• Add an instance to the Instances to Substitute list (see below)
• Remove an instance from the Instances to Substitute list (see below)
5. Click OK.

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Automated Guided Vehicles

The application substitutes each reference to the instances in the Instances to Substitute list with a
reference to the Master instance.

Note
If multiple instances refer to the same prototype and you select one of them to be the master
instance, all other instances that refer to the same prototype are automatically added to the
Instances to Substitute list.

To add instances to the Instances to Substitute list:

1. Select items from the Available Instances list.

2. Click situated between the Available Instances list and the Instances to Substitute list.

To remove instances from the Instances to Substitute list:

1. Select items from the Instances to Substitute list.

2. Click .

Automated Guided Vehicles

Simulating Automated Guided Vehicles

Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) are often used to transfer
products and resources on the shop floor.

Process Simulate supports AGVs and AMRs in the manufacturing environment, facilitating virtual
commissioning of AGV systems, while simulating the manufacturing stations and AGVs, and the
interactions between them.

In order to simulate AGVs in Process Simulate, you must use Event-Based Simulation, which means that
you should load the studies in Line Simulation Mode. This is required in order to establish an environment
that supports signal exchange, connection to control systems, and the evaluation of conditions and logic.

You can create AGVs in a new empty study or introduce them into an existing study that contains a
modeled production environment (stations, zones, lines, and so on).

Workflow

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 Procedure

1. Create AGV
2. Create AGV Target
3. Create AGV Carpet (optional)
4. Drive AGV
5. Load relevant signals in Simulation Panel and force their values.
6. Run the simulation.

Create AGV

You can define any resource as an Automated Guided Vehicle (AGV).

Procedure

1. Select a resource and open it for modeling.

2. Select the resource and, optionally, rename it.
3. Choose Control tab → AGV group → Create AGV.
The system creates a logic resource associated with the selected resource, adds the necessary AGV
logic, and displays this in the Resource Logic Behavior Editor.

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 The entries, exits, parameters, and constants are used to control the AGV and communicate with it.

Note
If you choose multiple resources before invoking the command, then the relevant logic resource,
together with all the required logic, is created for each specified resource, but the Resource Logic
Behavior Editor is not displayed.

The system also generates all the signals required for communicating with the AGV and connects
them to the entries and exits of the AGV logic resource.

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 Create AGV target

4. Close the dialog box.

Create AGV target

You can define any resource as an Automated Guided Vehicle (AGV) Target. The target is an AGV Station on
the shop floor that acts as the destination for its AGV. The self frame of the resource is the actual target;
however, we recommend you use a resource with a 3D representation, such as a frame or a point, for
uniform representation of targets and for flexibility when you modify layouts.

Procedure

1. Select the relevant resource.

2. Choose Control tab → AGV group → Create AGV Target.
The system creates a logic resource associated with the selected resource, adds the necessary AGV
logic, and displays this in the Resource Logic Behavior Editor.

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 The entries, exits, parameters, and constants are used to control the AGV Target and communicate
with it.

Note
If you choose multiple resources before invoking the command, then the relevant logic resource,
together with all the required logic, is created for each specified resource, but the Resource Logic
Behavior Editor is not displayed.

The system also generates all the signals required for communicating with the AGV Target and
connects them to the entries and exits of the AGV Target logic resource.

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 Create AGV carpet

3. Close the dialog box.

Create AGV carpet

You can create an Automated Guided Vehicle (AGV) carpet for guiding AGVs to their destinations, while
avoiding areas that are densely filled with equipment.

An AGV Carpet is a 2D component consisting of curves and polylines that can be considered to be a carpet.
It must be modeled in such a way that each path connecting its nodes (junctions) is a separate entity.

• Select the carpet component, choose Control tab → AGV group → Create AGV Carpet, and click OK to
confirm.

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 If the Create AGV Carpet command is not enabled, confirm the following:

• All the carpet component entities are exposed: Either the component is open for modeling, or all its
relevant entities (2D curves, lines, polylines) must be marked as Preserved Entities.
• The carpet component does not contain blocks (groups of entity elements).

The AGV now travels along the lines connecting the nodes on the carpet, taking the shortest path to its
destination.

• If the AGV is not on the carpet, it moves to the nearest node that is on the carpet, and from there to its
destination.
• If the destination is not on the carpet, the AGV moves to the node on the carpet nearest to its
destination, and from there to the destination.

Drive AGV

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 In this example, you drive Automated Guided Vehicles (AGVs) directly by configuring their logic and
associated signals.

Procedure

1. Create an AGV and create two AGV Targets.

2. Add the following signals to the Simulation Panel:

Signal Name Type IEC Format Resource

AGV1_Speed REAL Q AGV1
AGV1_TargetIndex INT Q AGV1
AVGTarget1_ID INT I AVGTarget1
AVGTarget2_ID INT I AVGTarget2

3. Set AGV1_TargetIndex to the value of AGVTarget2_ID and force it.

4. Define AGV1_Speed and force it.

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 5. Play the simulation.
The AGV drives to AGVTarget2.

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 If you have created an AGV Carpet, the AGV does not drive in a direct route to its target destination.
Rather, it follows the tracks on the carpet.

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 6. (Optional) To drive the AGV to the next destination, set AGV1_TargetIndex to the value of
AGVTarget1_ID.
The AGV drives to AGVTarget1.

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 AGV advanced functionality

AGV advanced functionality

You can use the advanced features of Automated Guided Vehicle (AGV) functionality to customize your
AGV motion.

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AGV advanced functionality

• Add signals from the following list to the Simulation Panel and set their values as required.

AGV LB

Entries

Entry Type Connected Signal Usage

MotionPlannerType INT <ResourceName>_MotionPlannerType Defines whether the AGV uses the
carpet to drive to its destination
or ignores the carpet and drives
directly to the target.

0(default) – use carpet (if defined)

1– ignore the carpet

PathPlannerType INT <ResourceName>_PathPlannerType Defines whether the AGV drives
immediately to new targets as they
are assigned or buffers them.

0(default) – buffer (append) targets

1– override target with new target

RotationMethod INT <ResourceName>_RotationMethod Sets the method in which the AGV
approaches a target:

0 (default) – drive forward

1 – drive backwards

2 – slide, maintain orientation

Trace BOOL <ResourceName>_Trace Displays a frame on the next AGV
target, for debugging purposes

0 (default) – OFF

1 – ON
Speed REAL <ResourceName>_Speed Sets the AGV speed input, mm/sec
TargetIndex INT <ResourceName>_TargetIndex Sets the AGV next target (target
station ID)
AutoAcquire BOOL <ResourceName>_AutoAcquire Holds the AGV at target once the
target is reached, until released

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 AGV advanced functionality

0 (default) – OFF

1 – ON
Acquire INT <ResourceName>_Acquire Sets the Target ID of the AGV Target
that currently acquires the AGV
Release INT <ResourceName>_Release Releases an acquired AGV by setting
the Target ID of the AGV Target that
acquired the AGV
EmergencyStop BOOL <ResourceName>_EmergencyStop Stops the AGV motion immediately
(E-STOP), once set

0 (default) – OFF

1 – ON

Constants

Constant Type Usage

UserId INT AGV ID assigned by the user – overrides the automatic ID assigned by the application.
Set 0 (default) to deactivate (auto ID assignment)

Parameters

Parameters use AGV User LB Functions which are available for all users and documented in the Functions
library. These parameters are exposed to the user but should not be modified normally.

Exits

Exit Type Connected Signal Usage

ActualSpeed REAL <ResourceName>_ActualSpeed Get the Actual Speed of the AGV
Busy BOOL <ResourceName>_Busy Get the AGV status (True while AGV is Busy)

0 – Available

1 – Busy
Acquired INT <ResourceName>_Acquired Get the AGV Target ID of the AGV Target that
acquired the AGV
CurrentTarget INT <ResourceName>_CurrentTarget Get the current AGV target (AGV Target ID)
OnTarget BOOL <ResourceName>_OnTarget Get the AGV position (True while AGV is on
AGV) the Target

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AGV advanced functionality

0 – Not at Target

1 – At Target
TargetReached BOOL <ResourceName>_TargetReached Get a pulse signal when target is reached
(AGV reaches AGV Target)
ID INT <ResourceName>_ID Get the AGV ID

AGV Target LB

Entries

Entry Type Connected Signal Usage

ProcessEnded BOOL <ResourceName>_ An indication to the AGV Target from the local process that
ProcessEnded the process has ended and the AGV may be released by
the AGV Target.

0 (default) – No process or Ongoing process

1 – Process ended
AutoRelease BOOL <ResourceName>_ To be used whenever the AGV AutoAcquire entry is set to
AutoRelease TRUE. Notifies the AGV that it may leave the target once
reached or it has to wait for explicit Release signal.

0 (default) – Acquires the AGV

1 – Auto-Releases the AGV

Constants

Constant Type Usage

UserId INT AGV Target ID assigned by the user – overrides the automatic ID assignment by the
application. Set 0 (default) to deactivate (auto ID assignment)

Parameters

Parameters use AGV User LB Functions which are available for all users and documented in the Functions
library. These parameters are exposed to the user, but normally should not be modified.

Exits

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 AGV advanced functionality

Exit Type Connected Signal Usage

ID INT <ResourceName>_ID Get the AGV Target ID
Acquires INT <ResourceName>_ To be used whenever the AGV AutoAcquire entry is set
Acquires to TRUE. Notifies the AGV ID that is currently acquired
by the AGV Target.
StartProcess BOOL <ResourceName>_ To be used whenever the AGV AutoAcquire entry is set
StartProcess to TRUE. Notifies that AGV has arrived and local process
may start.

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AGV advanced functionality

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 Human Introduction

13. Human
Human Introduction
Process Simulate uses the Jack model for simulating human activity. Human functionality enables you to
design, analyze and optimize workplaces.

You can define task sequences for humans in the virtual environment and then analyze ergonomic and
timing requirements.

Note
Commands that can be added to the Human tab via customization are described in Custom
Commands.

Human Posturing

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Human Postures

Human Postures

The Human Postures option includes the following suboptions:

Button Suboption Description

Human Posturing Enables you to perform the
following posturing operations
from a single dialog:

• Control
• Adjust Joint
• Specifying/Assigning Loads
and Weights
Man Jog Enables you to move a selected
human effector in any direction
within its physical limits. For
more information, refer to Man
Jog.
Positioning Enables you to create a position
operation that places a human
model in a selected posture
at a specified location, without
requiring the human model to
walk to the location, refer to
Positioning.
Posture Library Enables you to store different
postures for human models.
For more information, refer to
Posture Library.
Save Current Posture Enables you to save the current
posture of the selected human
model in the Graphic Viewer.
For more information, refer to
Save Current Posture.
New Posture Operation Enables you to create a pose
operation that moves a human
model into a specified posture.
For more information, refer to
New Posture Operation.

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 Performing Human Posturing

Performing Human Posturing

Perform human posturing

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Tools group → Human Posturing .

The Human Posturing dialog box appears.

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 Select one of the following Human Posturing tabs to control the selected human model:

Tab Description
Control Enables you to select a posturing mode and utilize the various controls for
predicting and fine tuning the human’s posture.
Posture Library Enables you to store different postures for human models.

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 Tab Description
Adjust Joint You can use this tab to make individual body joint adjustments.
Loads and Enables you to specify loads and weights affecting the human mode.
Weights

3. Right click any body part in the graphic representation to display the available shortcuts.

The following options are available for the various body parts:
• Hands

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 ◦ Fix/Release - Sets the selected body part to be unavailable for simulation (or releases it for
simulation).
◦ Open Manipulator - Opens a part manipulator in the Graphic Viewer for the selected body
part.
◦ Grasp Target - The human model wraps its fingers around the target object.

◦ Precision Grasp Target - The human model grasps the target object using its index finger,
middle finger, and thumb.

◦ Adjust grasp on <object name> - After performing a Grasp Target or a Precision Grasp
Target, you can fine-tune the hand location, as follows:
a. Select the grasped object and choose Adjust grasp on.
A manipulator for the grasping hand opens in the Graphic Viewer.
b. Click the manipulator and reposition the hand.
When you click the manipulator the hand opens while you find its new location. As soon as
you release the mouse button, the hand closes and grasps the object again.
c. If you press the <Tab> key while using the manipulator, the hand remains open as long as
the key remains depressed. This can facilitate finding the optimal hand location.
◦ Reach for Target - After selecting a target part, the selected body part reaches for the
target part.

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 ◦ Attach Object - The system attaches the target object to the selected body part. When the
body part moves, the object moves with it.
◦ Follow Object - The selected body part tracks the target object when the latter moves.
◦ Zoom to - The Graphic Viewer zooms in on the selected body part.
• Legs
◦ Fix/Release
◦ Open Manipulator
◦ Reach for Target
◦ Zoom to
• Waist
◦ Fix/Release
◦ Open Manipulator
◦ Reach for Target
◦ Zoom to
• Head
◦ Fix/Release
◦ Open Manipulator
◦ Look at Target - After selecting a target part, the human model makes all the required
movements to watch the target part as the latter moves.
◦ Zoom to

Note
It is possible to create a human posturing operation that requires the human model to move body
parts that you configured to be fixed in their current locations. If you check Visualize targets,
Process Simulate displays red lines between the fixed part new location and its target position.

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Control

The Human Posturing dialog box remains open, enabling you to continue as follows:
• Click Reset to return the selected limb to its last location.
• Create additional pose operations, as required.
• Click Close to close the dialog box.
4. Proceed to To Create a Human Posturing Operation.

Control

The Control option enables you to set movement limitations on selected body parts. The constraint
parameters are divided into the following areas:

• Posture Mode: Posture prediction methods vary depending on whether a human is seated or standing.
Select the appropriate option for your application. The relevant controls for each mode are enabled/
disabled.

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 • Vision Target: Whenever the human model moves a hand, the model makes all the movements
required to watch the hand movement. If both hands are moving, the human model tracks a point
centered between the hands. It is also possible to track other body limbs.
• Lock: Fix body parts. In the standard inverse kinematics setting, whenever a CP frame is moved to a
target location, the rest of the body moves to accommodate this motion in the manner most natural for
the body. Nonetheless certain situations might demand exceptions to this rule. If the human model is to
reach an object located in a container, for example, it is preferable for it to bend over forwards (so as to
see the contents of the container) than to squat down, which would be the more natural motion. Also
when reaching a target while the human model is seated, only the model's upper body should adjust
itself to this overlapping; standing up would be not desired.Motion restriction parameters are saved with
the posture task. This means that, for example, the current setting for either a fixed torso or fixed torso
joints is stored in the posture operation (PostureOp) as soon as the operation is created.
• Not Available For Simulation: Fixes one or more limbs to maintain the current position, but lets the
orientation of the body part change because of inverse kinematics. The joint values are not fixed.

Setting Motion Constraints

You can limit the movement of the human model relative to specific body parts, position, and orientation.
You can set motion restraints on the human model either during all of its operations or during certain
individual operations, for example, reach operations. (Refer to Reach Target for more details.)

The following figure shows the available parameters for configuring human Control:

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 Procedure

1. To configure human control, in the Posture mode area, select one of the following postures:
• Standing - Keeps the human model in a standing posture.
• Seated - Keeps the human model in a seated posture.

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 or
• Click the body part you wish to constrain in the graphic representation.
A green lock on the graphical representation indicates which body part is constrained.
2. In the Vision Target area, you can set Moving Hand(s) - The human model tries to maintain a direct
line of view (by moving its head and eyes) with its moving hands. Alternatively, you can click Select
Target and choose any target in the Graphic Viewer (using the cross-hair that appears). The human
model tries to maintain a direct line of view with the selected target.
3. In the Lock area, you can select any of the following body parts in the Not available for simulation
list and lock them in place.
• Torso
• Pelvis
• Knee
4. Also in the Lock area, you can select the required limb constraints from the following options:
• Right hand: Keeps the movement of the right hand in its current location. Rotation around the
axis of the Right_Hand frame is allowed. You can also check Allow wrist deviation to allow wrist
deviation in the z-axis.
• Left hand: Keeps the movement of the left hand in its current location. Rotation around the axis of
the Left_Hand frame is allowed. You can also check Allow wrist deviation to allow wrist deviation
in the z-axis.
• Right foot: Keeps the movement of the right foot in its current location. Rotation around the axis
of the Right_Foot frame is allowed.
• Left foot: Keeps the movement of the left foot in its current location. Rotation around the axis of
the Left_Foot frame is allowed.

The graphic representation displays a symbol over the body parts set to be locked.
5. If Enable force based posturing is checked, you can click Activate in the Foot restriction zone
to describe the area within which foot placement prediction should occur. To configure the foot
restriction zone, set the Length and Width of the permitted area. Use the to open the Placement
Manipulator to adjust the location of the zone. The human model is allowed to place its feet in the
green area.

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 Clear Deactivate to remove the restriction.

Note
The Foot Restriction Zone area is disabled if you have set either of the human model's feet as
Fixed in the Lock area.

6. In the Bracing area, you can set surfaces on which the human model leans (bracing surfaces) -
these are considered during posture prediction. Additionally, Process Simulate takes hand loads (if
such exist) into consideration, applies the appropriate bracing forces, and updates the task hand
force (according to the Humosim model developed by the University of Michigan). Braced posturing
enables you to predict more realistic postures in leaning scenarios and also impacts ergonomic
analyses, ensuring a more accurate representation of the forces acting on the human model.
a. To add a surface against which one of the hands can brace, select Left or Right and click
Activate. Use the Placement Manipulator to position the hand bracing surface within your
scene.

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 Note
Force-based posturing and braced posture prediction consider forces added to the palmcenter
sites only.

b. To add a surface for the thighs to brace or lean against, click Activate next to Thighs. Use the
Placement Manipulator to position the hand bracing surface within your scene.

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 c. Check Allow force updates from support surfaces. When set, bracing and task hand forces are
updated and applied to the human model. If cleared, there are no changes to loads and weights
on the human model.
d. Checking Display initial hand force(s) causes a magenta-colored force arrow to appear,
representing the magnitude and direction of the force applied prior to making adjustments
for bracing. This is a helpful display option when communicating the initial study conditions to
other work groups.

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 Note
Changes are updated automatically as you enter them - there is no further need to confirm them (so
there is no OK button to click to save your changes).

Posture Library

Posture Library

The Posture Library enables you to store different postures for human models. You can apply a posture
from the Posture Library to a selected human or model at any time.

Note
All the user-defined postures are saved locally on your hard disk under the profiles folder of the current
user. You can change the location of this folder in the Library Directories tab of the Human Options.

You can save the current posture of a human model in the posture library and you can apply postures from
the library to selected human models. This enables you to quickly and easily create new operations that
include postures similar to previous operations.

Postures are defined according to joint values. (The joint values of any posture can be seen by displaying
the Joint Jog dialog box, described in Adjust Joint) You save postures in the posture library in categories.
You can move postures between categories and add and delete categories and postures, as required.

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Apply Postures

The posture library also includes several predefined standard postures (in the Standard category), which
you can select and apply, as required.

Apply Postures

You can apply a posture from the library to a human model and create a pose operation to save the
movement of the model into the new posture. You can apply part of the posture by selecting only the body
parts to which you want the posture applied. For example, if the posture is bending and grabbing, you may
only want to apply the grabbing part of the posture. In this case, you would select to apply the posture to
the upper body only.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Tools group → Human Posturing and click the Posture Library tab.
The Posture Library is displayed.

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 Note
A virtual category, Native Jack Postures, appears in the category list. To add jack.post files created
with Classic Jack to the Posture Library, copy the jack.post files to the Posture Library directory
specified in the Library Directories Tab. These postures appear in the Native Jack Postures category.
To create previews for native Jack postures, create a bitmap (.bmp) of the posture, give it the same
name as the .post file, and copy it into the Posture Library Directory. If there is no bitmap of the
same name in the Posture Library Directory, there is no preview for the posture.

3. Select the required posture and click Apply or double-click the posture to apply it to the active human
model. The human model assumes the selected posture in the Graphic Viewer.
4. Specify how the posture is applied to the human model by selecting one or more of the following
options in the Apply to area:
• Head: Applies the position of the head in the posture to the head of the selected model.
• Torso: Applies the position of the torso in the posture to the torso of the selected model.
• L. Leg: Applies the position of the left leg in the posture to the left leg of the selected model.
• R. Leg: Applies the position of the right leg in the posture to the right leg of the selected model.
• L. Arm: Applies the position of the left arm in the posture to the left arm of the selected model.
• R. Arm: Applies the position of the right arm in the posture to the right arm of the selected model.
• L. Wrist: Applies the position of the left wrist in the posture to the left wrist of the selected model.
• R. Wrist: Applies the position of the right wrist in the posture to the right wrist of the selected
model.
• L. Hand: Applies the position of the left hand in the posture to the left hand of the selected model.
• R. Hand: Applies the position of the right hand in the posture to the right hand of the selected
model.

Note
The Posture Library dialog box is dynamic. This means that options selected are reflected
immediately on the selected human model in the Graphic Viewer.
When using a hands-only model, only the L. Hand and R. Hand options are available.

Tip
Clicking Check All selects all the options, clicking Uncheck All deselects all the options and
clicking Upper Body selects only the upper body part options.

5. To designate a body part as the anchor for the human model, select value from the Anchor list. The
position of the selected body part remains unchanged when the posture is applied. If no anchor is
set, the human model may hang in the air when assuming the new posture. By default, the right heel
is set to be the anchor.
6. Click Mirror Posture to mirror the posture.

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 When a posture is mirrored, the following changes occur to the posture:
• All joints are transferred from the left side to the right side and vice versa.
• All axial and lateral joints that are in the middle of the body Torso and Neck are reversed. i.e. if the
torso was rotated to the left it will be rotated to the right.
• All motion constraints are mirrored. (For example: fix right hand is changed to fix left hand etc.)
• All motion behaviors are mirrored.
• All loads that are applied on one side of the body are applied to the other side of the body.
• If the weight distribution strategy is set to one side, it is mirrored.
The following example shows the results of clicking Mirror Posturing. The figure below shows the
human model with its original posture, constraints, and load:

The figure below shows the human model with its posture, constraints, and load after Mirror
Posturing is clicked:

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 7. Click Create Operation to create a pose operation.
The Operation Scope dialog box is displayed.

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 a. Enter a name for the operation in the Name field.
b. Select the parent operation from the Scope list.
c. Click OK.
The operation is saved and displayed in the Object Viewer and you can run it after setting it as
the current operation.

Note
By default, all pose operations are named Pose.

The Posture Library dialog box remains open enabling you to continue as follows:

• Click Reset to return the human model to its last pose.

• Create additional pose operations, as required.
• Click Close to close the dialog box.

Adjust Hand Posture

This command is similar to the Grasp Wizard. For complete information, refer to Grasp Wizard.

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 Procedure

1. Choose Human tab → Tools group → Human Posturing , click the Posture Library tab, and
select Hands.
The Hands page of the Posture Library is displayed.

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Save Postures

2. Creating new hand postures is done in the same way as creating new postures, refer to SavePosture.
3. You can adjust the Interpolate slider, as follows:
• Select a hand posture and adjust the Interpolate slider to gradually change the hand posture from
the selected posture to the Neutral posture.
• Select two hand postures and adjust the Interpolate slider to gradually change the hand posture
from one selected posture to the other selected posture.

Save Postures

Postures are saved in categories. You can save the same posture in several categories, as required.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Tools group → Human Posturing and click the Posture Library tab.
The Posture Library is displayed.

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 The Posture Library displays thumbnail images of postures saved in the libraries selected in the
Libraries list.
3. Click the Create New Posture button.
The Create New Posture dialog box is displayed.

4. Enter a name for the posture in the Posture Name field.

5. Select one or more categories in which you want to save the new posture and click OK.
The new posture appears in the Posture Library when its category is selected.

Note
To create a new category, select New Category in the Create New Posture dialog box.
The New Category dialog box is displayed.

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 Modify Postures

Enter a name for the category in the Enter New Category field and click OK.
The new category is displayed in the Create New Posture dialog box.

Modify Postures

You can modify the name of a posture and move it to another category in the posture library. You cannot
modify the postures in the Standard category.

Procedure

1. In the Posture Library dialog box, select a posture in the right side and click the Posture Properties
button.
The Posture Properties dialog box is displayed.

2. Modify the name in the Posture Name field, as required.

3. Modify the categories in which the posture is saved, as required. You can select additional categories
or add a new category.

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Delete Postures

4. Click OK.

Delete Postures

Postures and categories can be deleted from the posture library, as required. When you delete a category,
all of the postures saved in that category are also deleted. You cannot delete the Standard category or any
of the predefined standard postures.

Procedure

1. In the Posture Library dialog box, select a posture in the right side and click .
The following message is displayed.

2. Click Yes. The selected posture is deleted from the posture library.

Adjust Joint

The human model is divided into various body parts each with relevant joints. You can select one of the
body parts and manipulate its joints as required. This enables the human model to optimally simulate
poses used in the working environment when performing tasks.

Procedure

1. Click the Adjust Joint tab in the Human Posturing dialog box.
The Adjust Joint tab is displayed.

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 2. From the dropdown list, select the body part you want to manipulate into a specific pose or click the
body part in the graphic representation. The selected body part is marked with the manipulate icon,
and the possible movement types are displayed in the area under the dropdown list in the dialog box.

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 3. Check Apply to both sides if you want the right and left body parts to move together.
4. Select the required movement type and drag the slide bars as required. In the Graphic Viewer, the
selected joint moves as you drag the slide bar.

Note
You can also enter the exact numeric value of the required pose in the field to the right of the slide
bar.

5. For example, select Right Hand.

The Adjust Joint tab appears as follows:

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 Each joint is represented by a green dot; the selected joint is shown in red.
a. Select a joint, for example on the index finger.

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 b. Adjust the joints as desired. For example:

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 c. If you select the dot at the end of a finger, you can move all joints together to curl and straighten
the finger.

d. Right-clicking the dot at the end of a finger enables you to perform the following:

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 • Fix/Release - After clicking Fix blue bounding box is drawn around the current position of
the selected finger.

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 The system maintains the finger position within the confines of the bounding box. If this is not
possible, the system draws a red line indicating where the finger has moved.

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 Click Release to cancel the constraint.
• Open Manipulator - Opens a part manipulator in the Graphic Viewer for the selected finger.
You can use the manipulator to select a target position for the finger, after which the finger
joints are adjusted to bring the finger to the selected position (inverse kinematics).

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 Loads and Weights

Right-clicking the palm of the hand also opens/closes the manipulator.

• Zoom - Zooms the view to the selected finger tip.

Note
The shoulder complex consists of the clavicle and the shoulder joints, which are set in a
coordinated way. Inverse kinematics algorithms used for this in the past have been replaced
by more deterministic analytical methods in the Human Control Panel. The slight variation
in joint angles observed when switching manipulation focus between joints is due to the
synching algorithm that keeps these methods aligned. Sync occurs whenever the shoulder joint
is (re)selected.

Loads and Weights

Specifying / Assigning Loads and Weights

You can use the Loads and Weights option in one of two ways:

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View the effect of a load on a human model

• You can specify the loads and weights affecting the human model in a very detailed manner. You
can also can display the forces exerted on specified body parts. This is useful for human performance
analysis, such as lower back injury risk assessment or static strength analysis.
When using Loads and Weights, you define the posture of the model when supporting the load, the
load’s position or vector, the gravitational constant to use, and the body parts for which you want forces
displayed.

Note
To apply different loads and weights during a simulation and add detailed loads and weights to
Human Events, see View Effect of Load on Jack Model.

• You can assign a weight to any object - this affects Human Posturing. See Assign Weights to Objects.

View the effect of a load on a human model

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Click the Loads and Weights tab to display the following:

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 3. From the Site dropdown list, select a site on which the load will be placed or the force exerted.
4. From Type, select either Force or Weight and set the magnitude of the force in N or the mass of the
load in kg.
5. Set the Direction of the load/force in one of the following ways:
• Enter the direction vector by setting values in the X, Y, and Z fields.
• Click one of the direction icons to use a preset value.

• Click the vector icon .

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 The load/force is interactively displayed in the Graphic Viewer with a yellow arrow. The icon
remains pressed and a Placement Manipulator appears at a location along the vector. Manipulate
the direction of the vector by dragging the Placement Manipulator.

Note
The magnitude is not modified by changing the vector.

The load vectors displayed in the Graphic Viewer do not indicate the real magnitude along each
vector.
6. You can delete a force or weight by selecting it and pressing <Delete>.

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 7. A load vector can be defined as global or local. A load vector is global if the direction of the load is not
modified by changing the location of the site on which the load is applied. A load vector is local if the
direction of the load changes when the location of the load changes.
In the following example, a 1 kilogram load is applied to each clavicle, with the load on the right
clavicle defined as a local load, and the load on the left clavicle defined as global.

The following illustration shows the same loads after the model is manipulated:

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 The vector of the load on the right clavicle is updated with respect to the location of the clavicle.
However, the vector of the load on the left clavicle remains constant with respect to the global
scenario.
To specify that the load vector will change when the vector site is manipulated, set Relative to to
Local.
8. Click Apply. The load is added to the Loads list.
9. Repeat steps 3 - 7 as necessary.
10. To delete a load, select the load in the Loads list and press <Delete> on your keyboard. The selected
load is deleted from the list.
11. You can control the visibility of the configured loads. To display a load in the Graphic Viewer, select
the checkbox next to the load in the Loads list, or to hide it, clear the checkbox.
12. You can edit the magnitude and vector of gravity in the scenario. To edit the magnitude and vector of
gravity, click Gravity to display the following:

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 a. In the Magnitude field, enter the force of the load in cm/sec2 (Newtons).
b. Enter the vector of gravity by entering values in the X, Y, and Z fields.
or

Click the vector icon .

The icon remains pressed and a Placement Manipulator appears at a location along the
vector in the Graphic Viewer. Manipulate the direction of the vector by dragging the Placement
Manipulator.

Note
The magnitude is not modified by changing vector.

The gravity vectors displayed in the Graphic Viewer do not indicate the real magnitude along
each vector.
c. Click Close.
The magnitude and vector of gravity are configured. All loads and weights are affected by a
change to gravity. When the Edit Gravity - Jack dialog box is closed, all loads and weights are
redrawn.
13. You can select the joints for which the force of the configured loads and weights will be displayed.
To select joints:
a. Click the Joint field.
b. Click a Jack model in the Graphic Viewer.
The joint that is closest to the selected location is added to the Forces list in the Loads and
Weights dialog box.
14. You can control the visibility of the forces on the selected joints. To display the force on a joint in
the Graphic Viewer, select the checkbox next to the joint in the Forces list in the Loads and Weights
dialog box. To hide the force on a joint in the Graphic Viewer, clear the checkbox next to the force in
the Forces list in the Loads and Weights dialog box.

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 The Graphic Viewer shows the currently calculated forces and moments applied to the selected joints.
Moments are displayed as yellow arrows, with their magnitudes in yellow text. Forces are displayed as
red arrows, with their magnitudes in red text.

15. To configure joint forces, select Show Joint Forces.

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 From the Force Distribution Strategy dropdown list, select the posture in which the human will be
supporting the loads and weights to be analyzed. Available options include:
• Two Feet: The model is standing on both feet.
• Right Foot: The model is standing on only the right foot.
• Left Foot: The model is standing on only the left foot.
• Walking: The model is walking. This option should be selected in the following scenarios:
◦ Walking with both feet on the ground.
◦ Walking with only the right foot on the ground.
◦ Walking with only the left foot on the ground.
• Sitting: The model is seated with the feet supported.
• Sitting, No Feet: The model is seated with the feet unsupported. For example, the legs are
dangling.

Note
If the selected Force Distribution Strategy does not match the model's actual posture, unexpected
results may occur.

All load, weights, and gravity data is saved with the model. The joints to display data is not saved.

To close the Loads and Weights dialog box and save the model, click OK.

Assign weight to objects

Procedure

1. Select an object in the Graphic Viewer or Object Viewer.

2. Click the Loads and Weights tab or choose Human tab → Ergonomics group → Loads and Weights
.
The Loads and Weights dialog box appears.

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 3. The system automatically sets the Mass of the selected object to zero. Assign the desired weight. The
human model holding the object adjusts its posture according to the configured weight of the object
it is lifting, see Human Posturing.
4. Click OK.
5. If you wish to add forces to the Loads and Weights dialog box, configure the Create Force area as
follows:
a. Enter a Name for the force.
b. Configure the Magnitude of the force.
c. Check Local to apply the new force in the coordinate system of the object - if you rotate the
object, the force also rotates. If you clear Local, the system applies the force in the global
coordinate system - if you rotate the object, the force retains its initial orientation.
d. Using X, Y and Z, configure the direction in which the force acts.
or

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 Click
A yellow line appears in the Graphic View representing the new force. You can drag the line's
ends to adjust its direction.

e. Click Apply.
f. Add more forces if you wish.
6. You can delete a force or weight by selecting it and pressing <Delete>.
7. In the Loads and Weights dialog box, click OK to save the changes.

Note
By default, the weight of an object in a simulation is applied to the human model carrying the object.
Additionally, forces acting on the object have to be explicitly activated in a human event to be applied to
the human model.

Proceed to To Create a Human Posturing Operation.

Create a human posturing operation

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 After configuring the parameters in the tabs of the Human Posturing dialog box, create a pose operation
as follows:

Procedure

1. In the Human Posturing dialog box, click Create operation.

The Operation Scope dialog box is displayed.

2. Enter a name for the operation in the Name field.

3. Select the parent operation from the Scope dropdown list.
4. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer and you can
run it after setting it as the current operation.

Note
By default, all pose operations are named Pose.

Man Jog

The Man Jog option enables you to move a selected human effector in any direction within its physical
limits. Available effectors are Left Hand/Elbow/Leg/Knee, Right Hand/Elbow/Leg/Knee, Pelvis, Look at target
and Head. This command is especially useful for evaluating reachability functionality. You can examine, for
example, the reach of a human model - if it can grasp a box located on a high shelf.

When performed on a hands-only model, the available effectors are Left Hand and Right Hand.

You can move the limbs of the human model in any direction that is physically possible and within any
motion constraints defined for the human model (refer to Human Control).

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 Procedure

1. Select an effector on the human model in the Graphic Viewer and then select Man Jog .
A Placement Manipulator frame is connected to the CP frame of the selected effector and the
Human Body Part Manipulator dialog box is displayed.

Note
If you have not selected an effector, the Man Jog command opens by default for the Pelvis.

You can move the selected limb by using the Human Body Part Manipulator dialog box, described
in the following steps, and/or by dragging the Placement Manipulator frame in the Graphic Viewer
which is displayed in colored lines (red, green and yellow). To use this method, left click and drag
an axis (X, Y, or Z) to move the effector along the corresponding axis or left click and drag an arc
to rotate the effector around the corresponding arc. The white lines in the Placement Manipulator
frame represent planes, each defined by two colored axes. Left click and drag the white lines to move

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 the effector within the selected plane. These manipulator plane handles are only shown when the
Display Manipulator Plane Handles checkbox is selected in Graphics Viewer tab.
2. Select the frame of reference that defines the axes along which or around which the selected effector
moves in one of the following ways:
From the dropdown list in the Frame of Reference field, select the frame that you want to use as the
frame of reference, as follows:
• Self: The Self-origin frame of the selected limb.
• Working Frame: The World frame.
• Man Jog Frame: The CP frame of the selected limb.

Click the dropdown arrow next to the Frame of Reference button and specify the exact
coordinates of the frame of reference using one of the four methods available.
3. Move the selected limb as follows:
• In the Translate area, click the X, Y or Z button and then click the or button to move the
selected effector interactively along the selected axis by the step size. Click to move the effector
forwards or backwards until it collides or stops at its physical limit along the selected axis.

Note
You can change the step size by clicking the Translate Step size hyperlink. In the displayed Step
Size dialog box, change the translation step size as required, and then click OK.
• In the Rotate area, click the Rx, Ry, or Rz button and then click the or button to rotate
the selected effector interactively around the selected axis by the step size. Click to rotate the
effector clockwise or counterclockwise until it collides or stops at its physical limit around the
selected axis.

Note
You can change the step size by clicking the Rotate Step size hyperlink. In the displayed Step Size
dialog box, change the rotation step size as required, and then click OK.

The behavior of Man Jog is closely related to Human Control. Moving an effector along a
translational axis will maintain its orientation for as long as possible. If you drag the effector further,
the orientation constraints will be freed, enabling the effector to adjust its orientation to achieve the
required movement. The remaining body parts try to keep their position and orientation as long as
possible. Once this is no longer possible, the body parts will move to achieve the movement of the
dragged effector. For example, the torso will bend or the other hand will move.

The Human Body Part Manipulator dialog box remains open, enabling you to continue as follows:

• Click Reset to return the selected limb to its last location.

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Positioning

• Move the selected limb, as required.

• Click Close to close the dialog box.
• Create Human Posturing Operation.

Positioning

The Positioning option enables you to create a position operation that places a human model in a selected
posture at a specified location, without requiring the human model to walk to the location. This means
that the model slides to the target destination, or can even jump to it if a duration time is set for this
operation.

This option can also be used to move a human model to a different location, either maintaining its current
posture or changing the posture to sitting or standing up.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Posturing group → Positioning .

The Positioning Operation dialog box is displayed.

3. In the Select Operation field, select the required posture that you want the human model to assume
from one of the following options:
Place: The human model remains in its current posture.
Sit Down: The human model assumes a sitting posture.

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 Stand Up: The human model assumes a standing posture.

Note
The human model does not change its position or posture in the Graphic Viewer until you define a
target frame.

4. In the Select Target field, select the location where you want to place the human model in one or
both of the following ways:
• Click the location in the Graphic Viewer.

• Click the dropdown arrow next to the Frame of Reference button and specify the exact
co-ordinates of the target location using the up/down arrows, or by entering the values directly.
A location is created at the specified target and the human model moves to the location, assuming
the specified posture.
5. Click Create Op to create an operation that moves the human model from its start location to the
new location.
The Operation Scope dialog box is displayed.

6. Enter a name for the operation in the Name field.

7. Select the parent operation from the Scope list.
8. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer. and you can
run it after setting it as the current operation.

Note
By default, Place operations are named Jump to, Sit Down operations are named Sit down on and
Stand Up operations are named Stand up to.

The Positioning Operation dialog box remains open, enabling you to continue as follows:

• Click Reset to return the human model to its last position.

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Snap human to floor

• Create additional position operations, as required.

• Click Close to close the dialog box.

Snap human to floor

If you have manipulated a human model so that it is not standing on the floor, either hovering in the air, or
with its feet below the floor level, the Snap Human to Floor command can easily resolve this situation.

• Right-click the human model and select Snap human to floor .

The lowest limb of the human model snaps to the floor.

Mirroring Arms

You can select one arm of a human model and set the other arm to copy all its movements.

• Right-click an arm of the human model and select Mirror the right arm or Mirror the left arm.

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 Mirroring Arms

• An anchor symbol is displayed to indicate that you cannot perform posturing actions on this limb.

Note
You use the Placement Manipulator to fine-tune the arm position.

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Create Human Model

To end mirroring of human model arms:

• Right-click the human model and select Stop mirroring the right arm or Stop mirroring the left arm.

Create Human Model

The Create Human option enables you to create a human model based on the Jack system, originally
developed at the Center for Human Modeling at the University of Pennsylvania. The Jack model is a highly
biofidelic representation of ourselves, including a fully segmented spine, coupled shoulder complex, and
anthropometrically detailed hands. The focus in the development of Jack has been centered on creating
the most accurate human body model available.

Jack models have proper biomechanical, anthropometric, and ergonomic characteristics, and understand
balance, walking, and lifting. You can create males and females of any stature, based upon validated
anthropometric population studies that include body size and joint range of motion data.

After creating a human model, you can use the Analysis Wizard to collect ergonomic information on
specific postures and loading conditions, or task sequences. By using the available human performance
tools, you can analyze strength requirements, postural issues and injury risk assessments.

Scaling of Jack models is based on statistical models developed at the University of Michigan
Transportation Research Institute (UMTRI). These are derived from bodyscans of hundreds of people.

For a complete list of Anthropometric databases refer to Anthropometric Databases.

After creating a selection of varied human models, you can specify one male model and one female model
as default models.

You can also import human models saved in NX.

For information creating human models in Teamcenter, click here.

Create a human model

Procedure

1. In the Object Viewer, select a compound resource .

2. Choose Human tab → Tools group → Create Human .

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 Create a human model

3. Set the Gender to Male or Female.

4. Optionally, activate the Age control and change the age of the human model.

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Create a human model

Note
• By default, the Age of the human model is set to 25.
• Age and circumference inputs impact the body shape only. Ergonomic performance tools
continue to use separate segment mass models that utilize figure weight and segment lengths of
the scaled figure.

5. For Database, select the anthropometry database on which the new model is to be based or a
custom database you configured in the Human Model tab.
This modifies all the default parameters to match those of the selected database.

Note
It is also possible to set Database to No Scaling in scenarios where body dimensions are
unimportant. Note that loading non-scaling human models is faster as the scaling algorithms
are omitted. The human figures are the same, they are just not scaled. In this case, no specific
anthropometry is applied and all the human model parameters (except Colors) become inactive.

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 Create a human model

6. In the Height (mm) field, select a percentile from the list, or select Exact from the list and enter the
height in millimeters in the adjacent field.
7. In the Weight (kg) field, select a percentile from the list, or select Exact from the list and enter the
weight in kilograms in the adjacent field.

Note
The available percentile values depend on the specified anthropometric database. For example: 1%,
5%, 50%, 95%, 99%.

8. In the Torso area, set any of the following parameters. The dialog box illustrates each parameter you
select with a small diagram:
• Shoulder Breadth, Biacromial and Bideltoid

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Create a human model

• Chest circumference
• Waist circumference
• Chest Depth—Read only and only available when editing an existing human model
• Abdominal Depth—Read only and only available when editing an existing human model
• Hip circumference and breadth
9. In the Upper Limbs area, set up to three of the following parameters. The dialog box illustrates each
parameter you select with a small diagram:
• Arm Length and Thumb Tip Reach
• Shoulder Elbow Length
• Elbow Wrist Length
• Elbow Fingertip Length
• Hand Length
• Hand Breadth
• Hand Depth

Note
You cannot set Elbow Wrist Length, Elbow Fingertip Length, and Hand Length together.

10. You can also set the following parameters in the following areas:
• Height
◦ Height, Seated Acromian, Seated Eye, Seated, and Standing Acromian
◦ Legs, Knee height and Buttock Knee Length
• Head
◦ Breadth
◦ Length
• Feet
◦ Length
◦ Breadth
◦ Shoe sole height
11. Click the Customize tab.

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 Create a human model

a. Click an avatar head image to set the desired ethnicity.

b. Modify the default Color for the following as needed:
• Hair
• Eyes
• Shirt
• Pants
c. In the dropdown list below the colors, select one of the following actions to be performed when
you click Create:
• Apply to this figure—Applies the changes to the current human figure.
• Apply clothing colors to all males in study (or females) in study—Applies the changes to all
the clothing colors of male human figures in the study (or female human figures if you set the
Gender to Female). Other colors remain according to the ethnicity of the human model.

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Create a human model

• Apply as new default male (or female)—Sets the current parameters as the default
parameters when you create male human figures (or female human figures if you set the
Gender to Female).
• Restore default for current male (or female)—Restores the factory default parameters for
the current male human figure (or female human figure if you set the Gender to Female).
• Restore default for all males in study (or females) in study—Restores the factory default
parameters for all current male human figures in the study (or female human figures if you set
the Gender to Female).
• Restore default for all new males (or females)—Restores the factory default parameters for
creating new male human figures (or female human figures if you set the Gender to Female).
12. Click the Library tab.

The first male model and the first female model are marked as the default male and female models.
a. Click Add.
The new human model is stored and displayed in the Library list.
b. (Optional) Create additional human models and store them in the Library list.
c. Set one male model and one female model as Default human models.

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 Insert a default human model

Optionally, you can do the following:

• Select a human model in the Library and click Apply.
The parameters in Create Human are set to those of the specified model. You can then make
any desired changes in order to create a similar human model.
• Select a human model in the Library and click Delete if you wish to remove a model from the
Library.
13. Click Create.The new human model is added to the study and activated with the simulation engine.

Insert a default human model

Procedure

1. In the Object Viewer, select a compound resource .

2. Choose Human tab → Tools group → Create Human and select Create Default Male or Create
Default Female.

The male or female model you specified as default model is inserted.

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Create legacy human model

Create legacy human model

If you have set Always open Create Human dialog for to Legacy figures in the Human Model tab of the
Human Options dialog box, then when you create a human model, the system creates a legacy V7 human
model.

Procedure

1. In the Object Viewer, select a compound resource .

2. Choose Human tab → Tools group → Create Human .

3. Do one of the following:

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 • Set Load parameters from .fig file and configure the path to the .fig file containing data about the
human model to load. For example, you may have a file with a human model dressed in a work
overall. Click OK.
• Set Create by parameters and proceed to configure the new human model's parameters, as
described below.

Note
In this case, it is necessary to classify the human .cojt as a Human, as follows:
◦ Run Create Engineering Libraries.
◦ Select the jack.cojt component under SystemRoot\Libraries\HUMAN_MODELS.
◦ Specify the type as Human in the Type Setting dialog box (see Creating Engineering
Libraries in the Process Designer documentation for more details).

4. In the Gender field, set the gender of the new model to Male or Female.
5. In the Appearance field, select the appearance of the new model from the following options: Boots
& Gloves, v60 Segmented, v60 Smooth Skin, v70 Base, or v70 Clothed. v60 Segmented models
are the original human models and appear very basic. v70 Base and v70 Clothed are more advanced
and support accurate simulation. Selecting Boots & Gloves enables the Boots & Gloves parameters at
the bottom of the dialog box.
6. In the Database field, select the anthropometry database on which the new model is to be based or a
custom database you configured in the Human Model tab.
7. In the Height (mm) field, select a percentile from the list, or select Exact from the list and enter the
height in millimeters in the adjacent field.
8. In the Weight (kg) field, select a percentile from the list, or select Exact from the list and enter the
weight in kilograms in the adjacent field.

Note
You can specify one of the following percentiles: 1%, 5%, 50%, 95%, 99%.

9. Move the Waist To Hip Ratio slider to the desired position or set a value manually.

Note
• The Waist To Hip Ratio parameter only applies to human models whose Appearance is v70
Base or v70 Clothed. It is not active for legacy human models.
• The first time you change the Waist To Hip Ratio for a human model, there is a delay while the
system initializes the scaling infrastructure for the model. Subsequent operations for the model
run quickly.

10. (Optional) If you set Appearance to Boots & Gloves, you can set Sole height and Glove thickness.

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Create Hands

Note
Sole height allows for greater accuracy in reach studies and toe box clearance assessment, and
glove thickness allows more accurate hand clearance studies for situations where protective work
gloves are typically worn.

11. Click OK.The new human model is added to the study and activated with the simulation engine.

Create Hands

The Create Hands option enables you to create the hands of a human model (hands-only model). This is
useful for quickly assessing clearance and grip-ability issues.

After creating a hands-only model, you can perform most actions that can be performed on a full human
model. Actions that are not relevant for a hands-only model are disabled. In addition, parameters and
options for relevant actions are limited to those that relate to a hands-only model. As a result, some dialog
boxes may look different when opened on a hands-only model.

When creating the model, you can select the anthropometric database, gender and height of the model.
Height can be specified as a percentile size of the population or as an exact numerical value.

Procedure

1. In the Object Viewer, select a compound resource .

2. Choose Human tab → Tools group → Create Hands .

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 3. Set the Gender to Male or Female.
4. Select the hands to create, Right hand, Left hand, or both.
5. In the Database field, select the anthropometric database on which the new model is based.

The available databases are listed in Anthropometric Databases (not all are available for a hands-
only model).
6. Set the Length and Breadth of the hands either as a percentile with respect to the specified
population database or as an exact value.

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 Note
You can specify one of the following percentiles: 1%, 5%, 50%, 95%, 99%.

7. Click Create.The new hands-only model is added and activated with the simulation engine.

Create legacy hands-only model

If you have set Open Create Human/Create Hands dialog for to Legacy figures in the Human Model tab
of the Human Options dialog box, the system creates legacy V7 hands-only models.

Procedure

1. In the Object Viewer, select a compound resource .

2. Choose Human tab → Tools group → Create Hands .

In this case, the Create Hands dialog box is displayed as follows:

3. Select the hands to create, Right hand, Left hand, or both.

4. In the Database field, select the anthropometric database on which the new model is based.The
available databases are listed in Anthropometric Databases (not all are available for a hands-only
model).
5. In the Gender field, select the gender of the new model, Male or Female.
6. In the Height (mm) field, select a percentile from the dropdown list or set an exact value in
millimeters in the adjacent field.

Note
You can specify one of the following percentiles: 1%, 5%, 50%, 95%, 99%.

7. Click OK.The new hands-only model is added and activated with the simulation engine.

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 Human Options dialog box

Human Options dialog box

Colors tab

The Colors tab of the Human Options dialog box enables you to define the colors used to display human
models in the Graphic Viewer.

Procedure

1. In the Human Options dialog box, select the Colors tab to display the following:

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 2. From the Appearance list, select the appearance of the human model whose color scheme you wish
to modify.The following options are available: v60 Segmented, v60 Smooth Skin, v70 Base, or v70
Clothed.
3. In the Gender area, select the gender of the model.
4. In the Colors area, select a body part and then select the color you want to assign to the selected
body part from the dropdown color palette.
5. Repeat step 4 for all body parts, as required.

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 6. Check Use body segment highlighting if you wish Process Simulate to highlight body parts
undergoing excessive stress.
7. Check Hide CPFrames if you wish the CP frames to be automatically hidden whenever the human
component is visible in the Graphic Viewer.
It is still possible to manually set a particular CP frame to be visible.

8. Check Emphasize grasped objects to highlight grasped objects in the magenta color. The grasped
object will remain emphasized until the human model releases its grasp on the object. For
information on how human models grasp objects, refer to Auto Grasp.
9. Check Mocap markers transient if you wish the motion capture marker frames not to be stored in
the study. If this option is set, the frames are stored and you can even attach other objects to them.
10. Click OK to save your settings.

Note
The human color settings are applied to all new human models but have no impact on currently-existing
human models.

General tab

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 The General tab of the Human Options dialog box enables you to define rendering and grasping options.

Procedure

1. In the Human Options dialog box, select the General tab to display the following:

2. Configure the following:

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 Human Model tab

• The human models in Process Simulate possess deformable skin. Generally, this requires less
processing and enhances system performance. However, if this feature causes performance issues
on your machine, you can clear Use enhanced skin deformation engine.
• Human Grasping. After a human model closes it fingers around a grasped object, Process Simulate
creates a grasp relationship between the model and object so that they move in synchronization.
By default, this only happens after the grasp operation has been created. If you clear Deactivate
instantaneous grasping, Process Simulate creates the grasp relationship between the model and
object immediately.
3. Click OK to save your settings.

Human Model tab

In the Human Model tab of the Human Options dialog box, you can define the library paths for human
models, specify whether to use V10 textured human models, and determine the number of active models.

Procedure

1. In the Human Options dialog box, select the Human Model tab.

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 2. If required, modify the location where human models are stored, as specified in the System Root
Human Model Library Path.
3. By default, Open Create Human/Create Hands dialog for is set to v11 figures. This means that
all newly-created human models and hands are v11 models with accurate texture. You can select
Legacy figures if necessary.
4. Click OK to save your settings.

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 Libraries tab

Libraries tab

The Libraries tab of the Human Options dialog box enables you to define the directories containing the
posture library and the joint limitations library.

Procedure

1. In the Human Options dialog box, select the Libraries tab to display the following:

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 2. Change the default locations of the following library directories by entering the full path in the
relevant field, or by navigating to the path using the Browse button, as follows:
• Posture Library Directory: Contains the Posture Library. Refer to the Posture Library tab of the
Human Posturing dialog box is displayed for more details.
• Joint Limitations Directory: Contains the Joint Limitation Library. Refer to Joint Limit Library for
more details.
3. Click OK to save your settings.

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 Report Viewer tab

Report Viewer tab

The Report Viewer tab of the Human Options dialog box enables you to define the directories required by
the Report Viewer and the naming convention used for new reports.

Procedure

1. In the Human Options dialog box, select the Report Viewer tab to display the following:

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 2. Change the default locations of the Report Viewer directories by entering the full path in the relevant
field, or by navigating to the path using the Browse button, as follows:
• Report Viewer Root Directory: The directory that is viewed when opening the Report Viewer.
• Report Viewer Target Directory: The directory where new reports are saved after they are
created. By default, both the Report Viewer Root Directory and the Report Viewer Target
Directory share the same location. This means that the reports you create are saved directly under
the root directory of the Report Viewer. If required, you can define a new target directory in which
to save your reports, for example, for each new project.
• Report Viewer Stylesheet Directory: The directory where the report stylesheet is located. All
the reports are saved as XML files using a standard stylesheet from the installation directory. You

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 can change this directory and use your own user-defined stylesheet (for example, a user-defined
ergonomic report), if required. When using a customized generic ergonomic report, ensure that
the XSL file has the same name as the report XML file, with an XSL extension. For example,
if a customized generic ergonomic report is based on an XML named MyErgonomics.XML, the
stylesheet for processing the report should be named MyErgonomics.XSL.
3. In the New Report Names area, select one of the following naming conventions for reports:
• Use Default Name: Reports will be given the default name (NIOSHReport# or OWASReport#).
• Use Custom Name: Reports will be given the name specified in the text box, which will then be
used as the new default name.
4. Click OK to save your settings.

Note
By default, all report files are saved locally on your hard disk under the Profiles folder of the current user.

Reports tab

The Reports tab of the Human Options dialog box enables you to define which user-defined ergonomic
reports can be selected for use. It also defines the directory for storing user customization data.

User-defined ergonomic reports are generic in the sense that users can collect the human model properties
that are of interest and transfer them, together with a snapshot of the current view, to an XML file. This
XML file can then be manipulated with XSL stylesheets to create customized static reports. The location of
these stylesheets is defined in the Report Viewer Tab.

The XML file can also be used to define customized data that appears in the Edit Report Name dialog box.

Procedure

1. In the Human Options dialog box, select the Reports tab to display the following:

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 2. The User Defined Ergonomic Reports area lists up to four user-defined ergonomic reports. Select
the checkbox next to each report to be added as a row in the Analysis Settings dialog box. Refer to
Ergonomic Analysis Tools for more details. The name entered next to each checkbox refers to the
XSL stylesheet that should be used to process the report in the Report Viewer.
3. Click the Filter button in order to suppress irrelevant data and improve human simulation
performance and streamline report generation.
The Report Filter dialog box displays allowing you to choose which data and analysis results to include
in the report.

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 Simulations tab

4. Modify the location of the library containing user customization data, if required, by entering the full
path in the User Customization Data Directory field, or navigating to the path using the Browse
button.
5. Click OK to save your settings.

Simulations tab

The Simulations tab of the Human Options dialog box enables you to define the default path for
datacards, the unit type used for time measurements, the model simulation speed, and displays default
operation creation options.

Note
The parameters on the Simulations tab do not impact Task Simulation Builder (TBS) simulations.

Procedure

1. In the Human Options dialog box, select the Simulations tab to display the following:

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 2. Modify the location of the MTM data cards used for evaluating operation times in the Datacard
Default Path field, if required.
3. From the Unit Type dropdown list, select one of the following time units to be used in MTM data
cards:
• Seconds
• Minutes
• TMU: Time Measurement Units used by MTM (1/3600 sec.)

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 Human Properties

• SAM: Sequential Activity and Methods Analysis

• RU: used by Work Factor
• MODAPTS: MODular Arrangement of Predetermined Time Standards
4. In the Simulation Timing area, define the speed of human models during simulation as follows:
• Setting Execute simulation in real time is equivalent to retaining the default setting of
Simulation Speed in the Sequence Editor (the middle of its range).
• In the Walking field, enter the speed at which the human model should perform walking
operations (in mm/sec).
• In the Reaching field, enter the speed at which the human model should perform reach operation
(in mm/sec).
5. In the Human Operations area, the following default settings are displayed:
• In the Default operation time field, the default operation time used when creating new Posture
operations in seconds.
• The Automatically link created operations checkbox is enabled by default to automatically link
human operations to the last operation.
• The Automatically create position operations checkbox is enabled by default to automatically
create a position operation whenever a posture operation is created.
6. Click OK to save your settings.

Human Properties

Modifying Properties of the Human Model

The Human Properties option enables you to change the properties of a human model.

This option is useful when you want to optimize a workplace by using various human models or human
hand models with different characteristics. For example, if you want to examine the height of a table on
which a worker has to do the assembly, you can run simulations using a tall man and also a small woman.
During the simulations you can see the accessibility of all the devices on the table, showing whether a
height-adjustable table is necessary, or whether the workplace is designed satisfactorily.

The Human Properties option also enables you to create a modified copy of a human model, cloning
the anthropometric properties of the original human model. When creating a modified copy of a human
model, you can keep or discard the original human model, and make either of the models transparent.

Alternatively, you can modify the properties of an existing human model. All the properties may be
modified, such as the model's gender and physical proportions. The modified model may replace the
previous model or be created as a copy of the original model. By default, the modified model is built
around the position of the feet of the previous model. The remaining joints are then added to this fixed
part. However, you have the option of selecting a different body part as the fixed part around which the
modified model should be built.

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Change the Properties of a Human Model

Models can be changed using data from the following Anthropometric databases. For a complete list of
Anthropometric databases refer to Anthropometric Databases.

Change the Properties of a Human Model

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Tools group → Human Properties .

The Change Properties dialog box is displayed.

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 3. Edit the parameters.

Note
• Scaling of next generation Jack and Jill figures is based on statistical models developed at
the University of Michigan Transportation Research Institute (UMTRI). These were derived from
bodyscans of hundreds of people.

Upgrade Legacy Human Model

If you want to upgrade the human model to a V10 human model with accurate skin texture:

Procedure

1. Set Appearance to V11. The system updates the Change Properties dialog box.

2. Click Open V11 Scaling Dialog.The Change Properties dialog box for a V11 human model (as
shown above) appears.
3. Edit the parameters.

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Change the Properties of a Legacy Human Model

If you are changing the properties of a legacy human model, the following dialog box appears.

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Change the Properties of a Legacy Human Model

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 Procedure

1. Select one of the following options:

• Create by parameters and edit the parameters.
• Load parameters from .fig file and configure the path to the .fig file containing data about the
human model to load.

Note
By default, Process Simulate loads the human model's parameters from the .fig file and then
disconnects the model from the file. Thus, the data remains complete even if the .fig file goes
missing. If however, you are working on data from legacy versions, the human model may still be
linked to the .fig file, and if you send the data to a colleague for collaboration, there will be errors
if your colleague does not have the same .fig file. Click Disconnect from .fig file to disconnect
the human model from the .fig file.

• Clone anthropometric data from origin and set one or more of the Change Property
Options:
◦ Keep origin model: If selected, the model selected when the Change Properties dialog box was
opened is maintained. The modified model is created as a modified copy of the original model. If
not selected, the modified human model replaces the previous model in the cell.
◦ Hide origin model: If selected, the model selected when the Change Properties dialog box was
opened is hidden from view. If not selected, the original model remains visible. This option is
only enabled if Keep origin model is selected.
◦ Make origin model transparent: If selected, the model selected when the Change Properties
dialog box was opened is displayed in a transparent manner. If not selected, the original model
remains fully visible. This option is only enabled if Keep origin model is selected.
◦ Make new model transparent: If selected, the modified model or clone is displayed in a
transparent manner. If not selected, the model remains fully visible.
◦ Generate reach posture: If selected, the modified model or clone is to reach for the same hand
targets as the original model.
◦ (Optional) From the Fix Effector dropdown list, select the fixed joint around which the modified
model should be built, or select None. By default, the feet of the previous model are used as the
fixed joint.
2. Click Export Figure if you wish to export the human model to a .fig file. This enables you to load the
human model in other software packages and make changes that might not be possible in Process
Simulate. You can then load the updated parameters back into Process Simulate.
3. Click OK.The human model properties are modified.

Modify Human Model from .fig File

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 Procedure

1. In the Change Properties dialog box, select Load parameters from .fig file.
2. Navigate to the .fig file containing data about the desired human model to load. For example, you
may wish to reference the file of a human model dressed in a work uniform.

Modify the model by configuring the parameters in the dialog box

Procedure

1. In the Change Properties dialog box, select Create by parameters.

2. In the Database field, select the anthropometry database on which the new model is based.For a
complete list of Anthropometric databases refer to Anthropometric Databases.
3. In the Appearance field, select the new appearance of the model, v60 Segmented, v60 Smooth
Skin, v70 Base, or v70 Clothed.
4. In the Gender field, select the gender of the model, Male or Female.
5. In the Height (mm) field, select a percentile from the dropdown list or select Exact from the
dropdown list and enter the height in millimeters in the adjacent field.
6. In the Weight (kg) field, select a percentile from the dropdown list or select Exact from the
dropdown list and enter the height in kilograms in the adjacent field.

Note
You can specify one of the following percentiles: 1%, 5%, 50%, 95%, 99%.

Clone a model using the anthropometric data from the original model

Procedure

1. In the Change Properties dialog box, select Clone anthropometric data from origin.
2. In the Appearance field, select the new appearance of the model, v60 Segmented, v60
Smoothskin, v70 Base, or v70 Clothed.

Human ruler

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 The Human ruler command enables you to measure the distance between different limbs of a human
model. You can perform linear, horizontal, lateral, or vertical measurements.

Procedure

1. Pick a human model.

2. Choose Human tab → Tools group → Human ruler .

3. Create a ruler, as follows:
a. In Measure from, either select a body part from Common points or click any part of the human
model (Where picked specifies the name of the specified part).
b. In Measure to, either select a body part from Common points or click any part of the human
model (Where picked specifies the name of the specified part).
c. Set the desired types of ruler, as follows:
• If you wish to display the numerical value of the ruler, set Include values along with lines.
• The following figure shows a linear ruler.

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 The system also displays a green From frame and a red To frame.
• The following figures show horizontal, lateral, and vertical rulers.

4. If you wish to swap the ruler's frames, click Switch frame .

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 Switching between the frames also causes the ruler to be routed differently.

5. Optionally, perform any of the following in the Library area:

• After creating a useful ruler, click Add, and give a meaningful name to the ruler. The ruler is added
to the Library list and allocated to the specified human model. It is now displayed whenever the
model is displayed and continuously updated as the model moves.

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 • Check Show for each ruler you wish to display and clear Show for each one you do not wish to
display currently.
• Select a ruler in the Library list and click Apply to update the display of the selected human model
to match that of the specified measurement.
• Select a ruler in the Library list and click Delete if you wish to delete it.

6. You can click at any time to access the Minimal distance tool.

You can create a new ruler and display it together with rulers from the Library.

In this case, if you contract the Create Ruler area, only the library ruler is displayed and if you contract the
Library area, only the Create Ruler is displayed.

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 Default Posture

Default Posture
The Default Posture option returns a human model to its default home posture, which is when all joints
in the human model are set to values that enable the human model to stand upright in a posture similar
to the one it had when it was first created. When performed on a hands-only model, all the joints in the
model are set to the values it had when it was first created.

To return a human model to its default posture, select the human model in the Graphic Viewer or Object

Viewer and choose Human tab → Posture group → Default Posture . The selected human model
returns automatically to an upright standing position, with arms to the side and legs together.

Save Current Posture

The Save Current Posture option enables you to save the current posture of the selected human model
in the Graphic Viewer. To save the current posture, choose Human tab → Posture group → Save Current
Posture . The posture is saved in the posture library in the Unassigned category with the name
NoName00#.

Auto Grasp

The Auto Grasp option enables you to create a grasp operation for human models simply by selecting the
target object or target location. All other conditions are set automatically by the system.

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 Note
For more information about manually creating a grasp operation, refer to Grasp Wizard.

When you select an object to grasp, the hand moves towards the object and finds the optimal position
where it can be grasped best. Once the hand reaches the destination, the fingers close automatically
around the object.

By selecting the object in Component mode, the entire component is considered for Auto Grasp. If you
select it in Entity mode, the fingers close around the entity instead of the component.

Enable Reposition to allow the Human Model to adjust its position when the target object is out of reach.
In such a case, the system creates a walk operation with predictive stepping in addition to the Reach
operation. For more information on creating walk operations, refer to Walk Creator.

Note
• If you use Auto Grasp in combination with Man Jog, you can drag the hand to the desired
position rather than trying to find the location to grasp the object. This means that the hand closes
automatically after each movement caused by Man Jog. For more information, refer to Man Jog.
• All Auto Grasp reach actions are performed with Pos. + Z axis motion behavior, regardless of how this
parameter is set in Control.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Posture group → Auto Grasp .

The Auto Grasp dialog box is displayed.

The Auto Grasp dialog box contains two tabs, one for each hand.

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 3. Select the Allow two hand grasp checkbox to define grasp settings for both hands simultaneously.
If this checkbox is selected, there is no need to define settings in both tabs of the Auto Grasp dialog
box.
4. Select the Fix Other Arm checkbox if you want to keep the other arm stationary in its current position
during the grasp operation. Generally, in a grasp operation, a hand CP frame overlaps a target
location and the rest of the body (including the other hand) moves to accommodate the movement.
5. From the Grip direction dropdown list, select the direction from which the grip should be attempted,
From the top, From the side or Auto. For example, if the object is very small and located below
the level of the human's pelvis, you would likely choose to grip the object from the top. If Auto is
selected, the system selects which grip is best, taking into consideration the distance between the
human and the object, the height of the object relative to the human and the size of the object.
6. Click to enable the Precision Grasp checkbox to allow the human model to hold small objects (for
example, pins) with its fingertips.

7. In the Object field, enter the object that the human model should grasp, or select the object in the
Graphic Viewer or Object Viewer. The name of the object is displayed in the Object field.
8. By default, the selected target location is the location of the selected hand. You can change the target
location in the Location field, by selecting the location that you want the selected hand of the human
model to grasp. Select the location in one of the following ways:
• Click the location in the Graphic Viewer.

• Click the dropdown arrow next to the Frame of Reference button and specify the exact
coordinates of the location using one of the four methods available.
The selected hand of the human model moves to the selected location in the Graphic Viewer.

Note
Holdings are not used in the Auto Grasp dialog box.

9. If you want the human model to hold on to the selected object, select how from the dropdown list
to the right of the Object field. You can select Mutual Grasp, Grasp and Walk, or Follow and Walk.
Now the selected object is connected interactively to the selected hand. These grasping modes are
described in Grasp functionality.

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 Note
When Grasp and Walk or Follow and Walk is selected, the human model follows the object,
without the need to create a Walk operation. This setting is saved to Allow Walk Human Events.

10. Click Man Jog if you wish to move the hand manually. A manipulator for the grasping hand
opens in the Graphic Viewer.
a. Click the manipulator and reposition the hand.
When you click the manipulator the hand opens while you find its new location. As soon as you
release the mouse button, the hand closes and grasps the object again.
b. If you press the <Tab> key while using the manipulator, the hand remains open as long as the
key remains depressed.
This can facilitate finding the optimal hand location.
11. Click the Allow Human Relocation checkbox to enable the system to reposition the human within
reach proximity of the object.
12. Deselect the Snap to object option if you do not wish the hand to relocate automatically to a newly
selected object (while still enabling the fingers to grasp it).
13. Click Create Op to create a grasp operation that moves one or both hands to the selected target
location(s).
The Operation Scope dialog box is displayed.

Note
By default, all grasp operations are named Reach to <name of selected location>.

14. Enter a name for the operation in the Name field.

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 15. Select the parent operation from the Scope list.
16. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer and you can
run it after setting it as the current operation. Typically, the grasp operation is a human compound
operation that includes a finger operation, hand operation and posture operation for one or two
hands.

Note
When you use Auto Grasp for just one hand, for example, the right hand, no LeftHandOp and
LeftFingerOp will be created, since no information has been defined for this side.

17. Click Close to exit the Auto Grasp dialog box.

Note
Click Reset to return the grasp operation to its last position.

Note

After invoking Auto Grasp, Grasp Wizard or Reach Target the cursor switches to be a cross-hair .
Click the desired target.

The following Quick Reach Commands are available:

• Right Reach Target - The human model stretches out its right arm to reach the target.
• Right Auto Grasp Target - The human model stretches out its right arm and wraps its fingers around
the target.
• Left Reach Target - The human model stretches out its left arm to reach the target.
• Left Auto Grasp Target - The human model stretches out its left arm and wraps its fingers around the
target.
• Look At Target - The human model looks at the target.

Grasp Wizard

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 The Grasp Wizard option enables you to create a grasp operation in which a human model grasps a target
using a specified hand position. Refer to Grasp functionality.

Note
To have the human model perform grasps at locations defined along a path, use the standard commands
in the Path toolbar, such as Add Current Location. When simulating this operation, the hand moves
from one location to the next.

You can use the Grasp Wizard to simulate hand-related tasks, such as picking up a cylindrical object or
pressing a button. You can change grasp types (or finger positions) according to tasks. When using the
Grasp Wizard to manually create a grasp operation, you must define all the relevant conditions, such as the
target object, target location, related finger postures and so on.

When you select an object to grasp, the hand moves towards the object and finds the most adequate
position where it can be grasped best.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Posture group → Grasp Wizard .

Two frames are displayed on the selected model's wrists (the Right_Hand_CP frame and the
Left_Hand_CP frame) and the Grasp Wizard dialog box is displayed.

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 3. Select the Right Hand tab or Left Hand tab, depending on the hand you want to use in the grasp
operation.

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 Note
Selecting the hand of a human model and then selecting Grasp Wizard automatically displays the
tab of the selected hand.

4. In the Object to Grasp field, enter the object that the human model should grasp or select the object
in the Graphic Viewer or Object Viewer. The name of the object is displayed in the Object to Grasp
field.
5. By default, the selected target location is the location of the selected hand. You can change the target
location in the Target Location field, by selecting the location that you want the selected hand of the
human model to grasp. If the selected object contains Holdings, they appear in the dropdown list. If
no holding is displayed, select the location in one of the following ways:
• Click the location in the Graphic Viewer.

• Click the dropdown arrow next to the Frame of Reference button and specify the exact
coordinates of the location using one of the four methods available.
The selected hand of the human model moves to the selected location in the Graphic Viewer.
6. If you want the human model to hold on to the selected object, select how from the dropdown list to
the right of the Object to Grasp field. You can select Mutual Grasp, Grasp and Walk or Follow and
Walk. Now the selected object is connected interactively to the selected hand. These grasping modes
are described in Grasp functionality.

Note
Select Release to let go of the object connected to the hand.

When Grasp and Walk or Follow and Walk is selected, the human model follows the object, without
the need to create a Walk operation. This setting is saved to Allow Walk Human Events.
7. Select the Fix Other Arm checkbox if you want to keep the other arm stationary in its current position
during the grasp operation. Generally, in a grasp operation, a hand CP frame overlaps a target
location and the rest of the body (including the other hand) moves to accommodate the movement.
8. In the Related Finger Posture area, select the grasp type (finger position) for the selected hand.
By default, no grasp type is selected. Selecting one of the finger postures adjusts the finger joints and
sets the CP frame to a predefined location.
Select from the following options:

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 Grasp Type Description CP Frame
Neutral: Default loose natural
hand posture.

Straight: All angles at zero.

Good as a starting hand
posture for grasping. Good for
anthropometry measurements.

Cylindrical Power: The hand

and fingers are curled. You can
use this grasp to hold a glass.

Cylindrical Precision: The

fingers are curled and the
thumb is extended. You can use
this grasp to hold a screwdriver
or to pull a rope.
Prismatic Precision: The fingers
and thumb are extended. You
can use this grasp to hold a
book or to grip a table.

Finger Press: Good for button

pressing.

Circular Precision: The hand

and fingers are in a claw
position. You can use this grasp
to change a light bulb.

Full Hand Power Grip 0.5 inch

diameter

Full Hand Power Grip 2 inch

diameter: Good power grip or
steering grip posture.

Precision Grip: Good for

picking up small objects.

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 Grasp Type Description CP Frame
Squeeze: Good start posture
for power grips.

Five finger pinch grip

Thumb Press: Good thumb

force posture.

Thumb Press Grip: A good

knob turn posture.

Fist: Closed hand. Good as

the end posture for finding a
percentage to use for a power
grasp.
Thumb index finger twist
10mm diameter

Thumb index finger twist

20mm diameter

Thumb index finger pinch grip

Steering

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 Grasp Type Description CP Frame
Hose insertion with a twist
0.5 inch diameter

Current

The selected hand of the human model assumes the selected grasp type and the CP frame of the
hand moves automatically to the most logical position for this grasp type. When one of the grasp
types is selected, a finger operation is created within the human compound operation.
9. When you select a cylindrical, prismatic or circular grasp, the Adjust Grip to Object slide bar is
enabled, which allows you to drag the bar to adjust the size of the grasp, as required. This equalizes
the difference in the grasp, for example, if you turn a big or small button.

Note
You can drag the bar or enter the exact value in the field to the right of the Adjust Grip to Object
slide bar.

10. It is possible to select two grasp types, by pressing the CTRL key while clicking on the second grasp
type. When two grasp types are selected the Adjust Grip to Object slide bar is replaced by the
Interpolate between selected shapes slide bar.

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 11. By default, the CP frame of a hand is located on the human model's wrist. If you want to change this
location and match a specific location on the selected hand to the selected target, click Set CP Frame.
The Move Center Point Frame dialog box is displayed, enabling you to move the CP frame on the
selected hand to a different location.
12. Specify how the selected hand will grasp the target by selecting one of the following constraints:
Match Exactly: Matches the CP frame of the selected hand to the target location in both position and
orientation. (Coincidence of 6 linear and rotational vectors.)
Match Pos. Only: Matches the CP frame of the selected hand to the target location in position only.
(Coincidence of 3 linear vectors.) This is the default selection.
Match Pos. + Z-Axis: Matches the CP frame of the selected hand to the target location in position as
well as Z-axis, with freedom of movement around the Z-axis. (Coincidence of 3 linear and 2 rotational
[X,Y] vectors.)

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 Note
If you open Human Control, you can see the linkage between what you selected in the Grasp
Wizard dialog box and motion constraints; the corresponding buttons in Motion Constraints are
selected automatically. You can select additional constraints in Motion Constraints which are then
applied to the selected hand.

13. If the finger posture is not satisfactory once the target has been reached, readjust the finger posture
by clicking Close Hand.The hand will close around the object selected in the Object to Grasp field.
14. Select for which hand you want to create the grasp operation by selecting one of the following:Left
(or Right) Hand Only: To create a grasp operation for the selected hand only.Both: To create the
same grasp operation for both hands.
15. Select the other tab and enter information for the second hand as required. If you do not want the
model's first taught hand to move away from its current position, select the Fix Other Arm checkbox
to keep the first hand stationary during the teaching process.You can define grasp operations either
for one hand or for both hands simultaneously. Teaching both hands means that the each hand of
the human model reaches for a target location. The information is saved in the same grasp operation
and during the simulation, you will see each hand move to the appropriate target location. If the
right hand and left hand actions do not fit together (for example, the two target locations are so far
apart that the human model cannot reach both at the same time), then no movement is seen in the
Graphic Viewer.
16. Click Create Op to create a grasp operation that moves one or both hands to the selected target
location(s).
The Operation Scope dialog box is displayed.

Note
By default, all grasp operations are named Reach to <name of selected location or Holding>.

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 17. Enter a name for the operation in the Name field.
18. Select the parent operation from the Scope list.
19. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer. You can run
operations using options in the Operations Tab. Typically, the grasp operation is a human compound
operation that includes a finger operation, hand operation and posture operation for one or two
hands.

Note
When you use the Grasp Wizard for just one hand, for example, the right hand, no LeftHandOp and
LeftFingerOp will be created, since no information has been defined for this side.

If you do not select any related finger postures from the Grasp Wizard, no FingerOp will be created.
The Grasp Operation contains the same information as a Reach Operation. To change the Human
Compound Operation to a Grasp Operation, copy and paste a FingerOp from other sequences. While
editing the Grasp Operation, the Grasp Wizard is displayed instead of the Reach Target dialog box.

The Grasp Wizard dialog box remains open, enabling you to continue as follows:

• Click Reset to return the grasp operation to its last position.

• Create additional grasp operations, as required.
• Click Close to close the dialog box.

Grasp functionality
Process Simulate supports the following grasp types:

• Unidirectional grasp, where the human effector is moved when the object moves but not vice versa.

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 Grasp functionality

For example, if a manipulator is moved the human keeps his hand on the handles and follows the
movement of the manipulator. A movement of the human does not cause the manipulator to move.
A follow grasp without an attach will be passive if the human but not the object is moved. When the
human model is moved with the Placement Manipulator, it will thus release all objects that it grasps
using a follow grasp.
If you want the effectors of the human to remain at the current position while the human is moving, you
should use the fix for placement feature (in Human Control).
By default, the human model does not follow the grasped objects by walking if the target is moved out
of reach. If you want the model to follow by walking, set Allow Walking in the Human Event dialog to
establish a grasp relationship.
• Unidirectional grasp, where the object is moved by the human but not vice versa.

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Grasp functionality

For example, when you want to adjust the position of an object in the human model's hand.
• Release. The termination of a grasp.
• Mutual grasp or bidirectional grasp. A grasp where the moving of the object causes the effector to
move and vice versa.
This means that if the object is moving, the human model will try to follow it with its effector and if the
human is moving (joints/position), the object will stay at the effector.

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 Reach Target

• Behavior when object is out of reach. When the object gets out of reach, for example, because it
has been dragged away from the human, the object will behave as if it is no longer grasped. That is, a
subsequent movement of the human will not cause the object to move also.
Once the human cannot reach an object anymore, it will not even reach into the direction of the object.
In this case it will not move at all. A message will appear in the Status bar: Target is currently out of
reach.
When the object is within reach of the human again, the human will automatically grasp it again. The
relative location of the object to the hand will be the same as when the grasp was defined.
There is a threshold value (for example, 10 mm or 10°) for the distance of the object to its ideal position.
If the object is closer than this distance it will be considered to be grasped. Otherwise it is difficult to tell
why the human does not grasp the object anymore.
• Grasp and release objects interactively .Objects can either be grasped immediately (interactively)
or during the simulation (via events). Both options can be used independently from each other or
in combination, which is the common usage. An interactive grasp on its own (without an event) is
automatically released after saving and reloading the cell.

Interactive grasps can be achieved via the Grasp Events or the Reach Target commands. Interactive
release can be achieved via the Reach Target or the Release Object commands.

Reach Target

You can create a reach operation where the human model reaches out to a target with an arm or a leg, or
looks in the direction of a selected target. When a selected target is out of reach, a message will appear in
the Status bar: Target is currently out of reach. This enables you to evaluate the physical limitations of
the human when performing specific tasks or operations.

In a reach operation, a selected human effector reaches out to a defined target location. To accommodate
this movement, a new body posture is calculated.

For a human model to be moved with inverse kinematics, it must have CP (Center Point) frames, which are
located in the kinematics parts (the human effectors). These CP frames are matched to target locations. If
the human model's hands are supposed to reach a position out of the reach of his arms, the rest of the
body is moved automatically. If the required position is too far in front or to the side, the upper body is
either bent forward or sideways or the human model squats down. Only if a target location cannot be
reached despite such further body motions, a message will appear in the Status bar: Target is currently
out of reach.

In the standard settings only the positions of the CP frames and target locations coincide, but by defining
parameters in Human Control, you can control the overlapping of CP frames and target locations, and also
define the way the body adjusts itself to this overlapping.

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 Note
To have the human model perform reach operations at locations defined along a path, use the standard
commands in the Path toolbar, such as Add Current Location. When simulating this operation, the
hand moves from one location to the next.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Posture group → Reach Target .

The Reach Target dialog box is displayed.

3. From the dropdown list in the Move Effector field, select the body part that you want to use to reach
the target.
You can select Left Hand, Left Leg, Right Hand, Right Leg or Vision. Selecting Vision means that
the human looks in the direction of the target.

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 Note
When the Reach Target dialog box is displayed, the Move Effector field displays the body part
selected in the Graphic Viewer (or the nearest effector from the selected body part).

4. To change the position of the CP frame of the selected effector, click Set CP Frame and specify the
new location in the Move Center Point Frame dialog box displayed. Refer to Setting CP Frames for
effectors.
5. In the Target Location field, select the location to which you want the human model to reach or look
by clicking the location in the Graphic Viewer,
or

Clicking the dropdown arrow next to the Frame of Reference button and specifying the
exact coordinates of the target location using one of the four methods available.
The human model moves the CP frame of the selected effector to the target. If the target is out of
reach, the human model does not move. A message will appear in the Status bar: The current target
is unreachable.

Note
If you want to limit the movement of the human model during the reach operation, click
Constraints and specify the limitation in Motion Constraints. Refer to Human Control, for a
detailed description.

6. If required, add grasps of multiple objects, as described below. The Objects to Grasp area enables
you to grasp and release several objects with different effectors. Adding any grasp information to the
list box will grasp/release the objects immediately (interactively).

Note
The grasp information is stored in a grasp event only after creating an operation, and is stored with
the simulation. Interactive grasps without an event are neither saved in the simulation nor in the
cell.
• Click Add Grasp.
The Add Grasp dialog box is displayed.

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 • From the Effector dropdown list, select the effector to grasp or release several objects.
The following effectors are available: Both Hands, Vision, Left Hand, Left Leg, Right Hand and
Right Leg. The effector Both Hands combines the left hand and the right hand effector to ease the
handling for the human model but creates separate entries in the Grasp Information list.
• From the Mode dropdown list, select a grasp mode.
The following grasping modes are available: Follow, Attach, Mutual Grasp and Release. These
grasping modes are described in Grasp functionality.

Note
Selecting Vision in the Effector dropdown list causes the human to follow the selected object with
his vision while the object is moving. Therefore the Attach and the Mutual Grasp modes are not
available.
• From the Adjustment dropdown list, select the motion constraints for the grasp. The following
options are available: Match Position Only, Match Pos. and Z-Axis and Match exactly. The
constraints are stored in the event and affect the behavior of how the human will follow an
object during the simulation.
• In the Objects list, add objects by selecting them in the Graphic Viewer or Object Viewer. It is
possible to grasp several objects (components, but not entities) and follow at least one object
with every effector (right/left hand/foot and vision) at a time. In the case of a kinematic device, it
is possible to follow entities (unidirectional), but not to grasp them. When the user grasps such
an object, the grasp is automatically a follow grasp.
• Click OK to confirm the added objects to be grasped.

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 The values set in the dialog box are added to the Grasp Information list. Valid grasps are marked
with a green and grasps which interfere with other grasps are marked with a red .

Note
You can select a line of the Grasp Information list and click Delete Selected to remove it or click
Delete All to clear the entire Grasp Information list.

7. In the Reach Target dialog box, click Create Op to create a reach operation.
The Operation Scope dialog box is displayed.

Note
By default, all reach operations are named Reach to/Move to/Look at (name of selected location)
according to the selected effector.

8. Enter a name for the operation in the Name field.

9. Select the parent operation from the Scope list.
10. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer. You can run
operations using options in the Operation tab. The reach operation is a human compound operation
that includes of a hand/foot/vision operation and a posture operation.

The Reach Target dialog box remains open, enabling you to continue as follows:

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 • Click Reset to return the human model to its last position.
• Create additional reach operations, as required.
• Click Close to close the dialog box.

Note
You can select a line of the Grasp Information list and click Delete Selected to remove it or click Delete
All to clear the entire Grasp Information list.

Human Copy

You may wish to copy postural, anthropometric or task-specific parameters from one human model to
another. For example, you may want to test whether different sized individuals can reach a specified
location.

Procedure

1. Pick a human model whose properties you wish to copy.

2. Choose Human tab → Posture group → Copy Human.
The Human Copy dialog box is displayed.

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 3. In To human, pick a target human model to which to copy the properties of the From human model.
4. Select some or all of the following properties to copy to the target model:
• Posture—Modifies the posture of the target model (Human Posturing) to be as close as possible
to the posture of the source model. Select one of the following options:
◦ Using joint angles—Copies the joint posture settings to the target model. The target is
constrained to maintain the anchor site at its current location and orientation. If you set
Location, you can select an Anchor; this is a body part around which to constrain the location
and orientation.

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 Note
In the example above, where the Anchor is set to Left Toes, it was not possible for the target
model's hands to reach the exact position of the source target's hands.

◦ Using goals: hands, feet and gaze—This mode is useful for Source and Target figures that have
different anthropometric dimensions. The system copies the joint posture settings to the target
model and then attempts to move the hand and feet locations to match those of the source. It
also causes the target to view the same general area as the source model is viewing.

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 Setting CP Frames for effectors

Note
When Using goals is set, the hip of the model is always preserved. Thus, in this example, it was
not possible for the target model's feet to reach the floor.

• Anthropometric properties—Copies the anthropometric dimensions (refer to Anthropometric

Properties) to the target model.

Note
This option is only available when the source and target models are of the same gender.

• Appearance —Copies the physical appearance, including ethnicity, to the target model. This
feature only works when both the source and target human models are of the V11 type.
• Loads and weights—If Loads and Weights are defined on the source model (refer to Loads and
Weights), this option is available, and enables you to copy these definitions to the target model.
5. Click Apply.

Setting CP Frames for effectors

To move a human model inverse kinematics, it must have CP (Center Point) frames, which are located in
the kinematics parts - the human effectors. Mostly, these frames are not displayed in the Graphic Viewer,
but by expanding the human model in the Objects Tree you can make these frames visible by clicking the
respective square(s).

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 The spine frame is located at the base of the neck. This frame is not for superimposing on a target frame
and therefore does not fit in the above list.

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 Each of the five human effectors used for inverse kinematics has a CP frame which is made to coincide
with an identified target location. As with the target location, the standard setting of a CP frame can be
changed numerically and incrementally. If, for example, the human model has grasped a tool and you
want to continue his task using this tool, it will be necessary to move the CP frame from the human
model's hand to the tip of the tool.

To change the CP frame:

Procedure

1. Click Set CP Frame in the relevant dialog box.

The Move Center Point Frame dialog box is displayed.

2. In the Pick New CP Frame Location field, select a new CP frame location in one or both of the
following ways:
• Click the location in the Graphic Viewer.

• Click the dropdown arrow next to the Frame of Reference button and specify the exact
coordinates of the CP frame using one of the four methods available.
The CP frame of the selected effector moves to the new location, and the new CP frame is displayed
in the Graphic Viewer.

The Move Center Point Frame dialog box remains open, enabling you to continue as follows:

• Click Origin to return the CP frame to its default location. The CP frame is displayed in the Graphic
Viewer.
• Click Reset to return the CP frame to its last location. The CP frame is displayed in the Graphic Viewer.
• Click Close to confirm the settings and close the dialog box.

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Task Simulation Builder

Task Simulation Builder

The Task Simulation Builder enables you to use high level commands when creating simulations with
fully-animated human models. You can create multiple simulations (refer to Create Simulation) and list
them all in the Object Viewer. This tool allows you to select types of activities for the Human model, or
activities that involve objects, such as parts moving on a conveyor.

In addition to the standard Ergonomics tools, you can also perform the following analyses on Task
Simulation Builder operations: EAWS, Ergonomics Metrics, and Energy Expenditure.

After selecting the activity type from the task list, the Task Simulation Builder wizard prompts you for task
parameters, and with very few user inputs assigns the actions or motions required to complete the task.
The following figure shows the Go task as an example.

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 Task Simulation Builder

You can preview the task, make improvements, and view the updated simulation.

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Task Simulation Builder

The Task Simulation Builder enables rapid, automated authoring of simulations while providing user
control over the level of detail of the final results.

When the simulation is complete, you can drag it from the Object Viewer to the Sequence Editor.

Note
• The system allocates one color for all the tasks performed by a specific human model and another
color for those performed by another human model. Similarly, the system displays different object
tasks in different colors.
• If the system failed to solve a task, for example, there are too many obstacles and a path cannot be
found, the task is highlighted in black.

• When the system fails to solve a task, all the following tasks also remain unsolved and are highlighted
in black.

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 Accessing the Task Simulation Builder

Clicking a task or action in the hierarchy on the left side of the Sequence Editor causes the simulation to
jump to the end of the selected task or action (if the Task Simulation Builder is open). This can be very
useful when trying to create snap shots. Clicking the simulation root, resets the simulation to its initial
context (refer to Initial Context).

You can generate a timing report which breaks down each task into actions and provides time estimates.
You can also select several real time ergonomics analysis tools with which to review your simulation.

It is also possible to edit your simulation on subsequent occasions should the need arise. For instructions
on how to do this, refer to Editing Simulations.

The simulation you are currently building or editing is known as the active simulation and its name
appears in the title bar of the Task Simulation Builder window.

Additional features can be accessed from TSB Settings.

Accessing the Task Simulation Builder

• Choose Human tab → Simulate group → Task Simulation Builder .

The Task Simulation Builder wizard is displayed.

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 • Click Create Simulation and follow the instructions in Create Simulation.

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 The Task Simulation Builder wizard supports tasks that are related to the Human model (in the Human
tab) and those that are related to objects during simulation (in the Objects tab), e.g., parts on a conveyor.
For each, the wizard displays a number of action pages, and in some cases, an Options page. After creating
a TSB Simulation Root for the simulation, you can set the required parameters for each simulation action
and preview the action. When you are satisfied and have completed all the steps the wizard, Process
Simulate creates the task and nests it under the TSB Simulation Root which can be viewed in the Create
Simulation.

You can create more simulation roots under which to nest further simulations. All these simulation roots
are saved in the Object Viewer. You can select any one simulation upon which to run Set Current
Operation in order to load it in the Sequence Editor and run it.

Note
Deleting a Simulation Root deletes all the tasks you stored under that simulation root.

Tasks are marked with the T icon and actions with the A icon. You cannot edit Task Simulation Builder
simulation roots in the Operations Tree. Use the Task Simulation Builder to add, reorder, or edit tasks/
actions. The new task is also added to the Sequence Editor.

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 You can simulate the new task as you would any other operation. For example, you can delete links
between tasks and/or actions, and create new links by selecting tasks and/or actions in the tree on the left

and clicking (or you use the Task Simulation Builder to do this). You can also copy and paste tasks or
actions in the tree on the left. This is particularly useful if the simulation requires numerous repetitions of
the same activity, for example, picking up a tool.

The following parameters and controls are available on many of the wizard pages:

Parameter/Control Description
Back Returns to the previous wizard page.
Cancel Cancels the wizard - no changes are saved.
Next Access the next wizard page.
Solve all steps at once Accepts all the default settings, creates the new
task, and closes the wizard.
Animate solved task Provides animation when simulating the task. If
cleared, the simulation jumps straight to the end.
Name The name of the task.
Occurs Enables you to set the task order. Select after or
before and select a task in the dropdown list to
order the current task after or before the selected
task.

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 Parameter/Control Description
This is the only way to set the order of Task
Simulation Builder tasks. You cannot reorder tasks
in the Object Viewer or Sequence Editor.
Zooms to the selected Who human model.

Opens the placement manipulator for the selected

Who human model.

Zooms to the selected What object.

Opens the Relocate command for the selected

What object.
Opens the Placement Manipulator for the
selected What object.

Adding Tasks using the Task Simulation Builder

Select from the list of task types on the Human tab below for details on how to add each task:

• Go
• Get
• Put
• Position
• Pose
• Regrasp
• Stand/Sit
• Wait
• Touch
• Apply force

For tasks on the Object tab, refer to Object Tasks.

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Create a Go task

Create a Go task

Procedure

1. From the Human tab in the Task Simulation Builder, click Go.
The Task Simulation Builder: Add new task: Go page is displayed.

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 Create a Go task

2. Click the Who field and pick a human model. If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field.

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Create a Go task

3. Click the Where field and pick a Go target destination. You can also use the Frame of
Reference button to set the destination at a frame location or the Placement Manipulator that
opens automatically.
4. If you set Rel. to, you can select an object relative to which the human model is located at its
destination, for example, a table.
This means that if the relative object is moved, the human model’s destination moves together with
the relative object (thus updating the walk path).

Note
Rel. to does not work if you change the Go target destination manually. In this case, the Go target
destination remains unchanged.

5. Click Next.
The Task Simulation Builder calculates an action and displays (by means of footprints) a path for the
human model to traverse on its way to the Go target destination.

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 Create a Go task

The Task Simulation Builder then plays a simulation of this action, and displays the Task Simulation
Builder: Move Body to Target page.

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Create a Go task

6. If you wish to change the posture adopted by the human model whilst moving to the get destination,
click Change Walk Posture. The Human Posturing and Placement Manipulator dialog boxes

appear, enabling you to adjust the posture adopted during the walk action. Click to accept
the change.

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 Create a Go task

7. If you wish to change the destination you set previously:

a. Click Change Destination.
The human model is displayed with a manipulator.

b. Move the model to the desired position.

c. Click .
The Task Simulation Builder recalculates the action and plays its simulation with the new
destination.
8. If you wish to route the human model via a particular point, for example, to ensure the model avoids
a dangerous area in the production environment:
a. Click Add Walk Via Point.
The human model is duplicated (this is known as a ghost model) with an enumerator tag and a
manipulator.

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Create a Go task

b. Move the ghost model to the desired position.

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 Create a Go task

c. Click .
The Task Simulation Builder recalculates the action (including the via point) and plays its
simulation.
d. Add more via points.
Each via point is represented by a ghost model (and enumerator) and each time you confirm a
via point, Task Simulation Builder plays a simulation of the action.

Note
• You can select any ghost model and modify its position or delete it.
• You can configure the Task Simulation Builder to consider selected objects to be obstacles
and to be avoided when planning human model motion. For example, if you set a table to
be an obstacle, you will not have to implement a via point to prevent the human model
from walking through the table. For more information, refer to To Manage Obstacles

9. You can click Clear All Via Points if you wish to clear the via points you set. The Task Simulation
Builder plays a simulation of the action.

10. In the preview area, use the buttons to view a simulation of the task.
11. Click Done. The Task Simulation Builder creates the Go task, displays it in the Object Viewer and
Sequence Editor and returns to the wizard introductory page.

Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

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Create a Get task

Create a Get task

You can use the Get task to have the model pick up or grasp an object within the scene. You can define
which hand(s) to use or let the Task Simulation Builder solve it for you. You can also choose to override the
solved destination, if the human model needs to walk to the object, and specify exactly where it should
stand. You can also use Via Postures to specify the exact path for the model to follow when reaching for
the object. This is especially useful if you wish to define a collision-free path for the human model.

Procedure

1. From the Human tab in the Task Simulation Builder, click Get.
The Task Simulation Builder: Add new task: Get page is displayed.

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 Note
Before you continue with the subsequent steps to create a Get task, you can set the options as
follows:

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 • Detach all other objects — detaches the object from any other objects it may be attached to.
If, for example, after having stacked some objects on a tray and carrying the tray to another
location, you now wish to remove objects from the tray, this option allows you to separate the
objects from one another.
• Keep uninvolved hand still — when the model uses one hand to perform a task, activate this
checkbox if you want the location and posture of the other hand to remain unchanged.
• NIOSH Grip Quality — enables you to change the grip quality from Good to Fair or Poor. This
setting is only relevant to a NIOSH Analysis and has no other impact.

2. Click the Who field and pick a human model. If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field.
3. Configure What in one of the following ways;
• Click Right hand or Left hand and pick an item to get.

You can also set both hands. When the task is ready, the human model extends an open hand to
the get the item. When the hand touches the item, the human model flexes its fingers as far as
possible to grasp it.

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 You can check Precision to use a precision grasp. The fingers close around the item - this is best for
getting small items, such as screws.

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 • Click Object, pick the get object, and set Hands to Right, Left, Both, or Automatic to define which
hand(s) the human model uses to grasp the selected object.

If you wish to fine tune the grasp posture at a later stage, click .
4. Click Next.
The Task Simulation Builder calculates and displays (by means of footprints) a path for the human
model to traverse on its way to the selected object.

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 The Task Simulation Builder plays a simulation of this action, and displays the Task Simulation
Builder: Move Body to Target page.

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 5. If you wish to change the posture adopted by the human model whilst moving to the get destination,
click Change Walk Posture. The Human Posturing dialog box appears, enabling you to adjust the

posture adopted during the walk action. Click to accept the change.
6. If you wish to change the destination:

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 a. Click Change Destination.
The human model is displayed with a manipulator.

b. Move the model to the desired position.

c. Click .
The Task Simulation Builder recalculates the action and plays its simulation with the new
destination.
7. If you wish to route the human model via a particular point, for example, to ensure the model avoids
a dangerous area in the production environment:
a. Click Add Walk Via Point.
The human model is duplicated in brown (this is known as a ghost model) with an enumerator
tag and a manipulator.

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 b. Move the ghost model to the desired position.

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 c. Click .
The Task Simulation Builder recalculates the action (including the via point) and plays its
simulation.
d. Add more via points. Each via point is represented by a ghost model (and enumerator) and each
time you confirm a via point, Task Simulation Builder plays a simulation of the action.

Note
• You can select any ghost model and modify its position or delete it.
• You can configure the Task Simulation Builder to consider selected objects to be obstacles
and to be avoided when planning human model motion. For example, if you set a table to
be an obstacle, you will not have to implement a via point to prevent the human model
from walking through the table. For more information, refer to To Manage Obstacles

8. You can click Clear All Via Points if you wish to clear the via points you set.The Task Simulation
Builder plays a simulation of the action.

9. In the preview area, use the buttons to view a simulation of the task.
10. Click Next.
Task Simulation Builder places the human model at its destination, while grasping the selected object,
and displays the Task Simulation Builder: Grasp the Object page.

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 11. If you wish to modify the posture or grasp of the human model in the Get task:
a. Click Edit Current Posture <#>.
The Human Posturing dialog box is displayed, enabling you to set the posture of the human
model while picking up (grasping) the item.

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 b. Set the posture as desired.

Note
You can use the Placement Manipulator to fine-tune the posture.

c. Click the right Grasp icon and/or left hand Grasp icon if you wish to edit the way the
human model grasps the target object.
The Reach Target dialog box appears enabling you to configure the desired grasp. Refer to
Reaching Targets.
d. Click Next.
The Task Simulation Builder displays the human model in the posture you set.

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 12. If you wish to modify the motion path used to grasp the object:
a. Click Insert Via Posture Before <#>.
The Human Posturing dialog box is displayed.

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 b. Use the posturing controls to configure a via posture; close the dialog box when done.

c. Click .
The Task Simulation Builder recalculates the action and displays the newly-defined via posture as
a brown ghost model.

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 13. If you wish to add more via postures:

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 a. Run the preview and stop it at the point you wish to add the new posture.
b. Click Insert Via Posture Before <#> and configure the new posture in the Human Posturing
dialog box.

c. Click .
The new posture is inserted before the current posture (the point where you paused the
preview). Each via posture is represented by a ghost model and enumerator.

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Create a Put task

Note
• You can select any ghost model and modify its position or delete it.
• Clicking any of the ghost postures jumps the preview to that point.

14. Click Done.The Task Simulation Builder creates the Get task, displays it in the Object Viewer and
Sequence Editor. Task Simulation Builder returns to the wizard introductory page

Note
For descriptions of additional options, see Accessing the Task Simulator Builder.

Create a Put task

The Put task enables you to move a grasped object to a new location. For example, if the human model
picked up a tool, you can use the Put task to take it to a workstation. Task Simulation Builder can solve all
the actions for the Put, or you can choose to define a specific walk path as well as preferred postures to Put
the object.

Procedure

1. From the Human tab in the Task Simulation Builder, click Put.
The Task Simulation Builder: Add new task: Put page is displayed.

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 2. Before you continue with the subsequent steps to create a Put task, you can set the options as
follows:

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 • Attach — Enables you to attach the object to another object. For example, you may wish to Put
several items on a tray and move the tray, you can use the Attach option each time you PUT an
object on the tray. Then moving the tray via a Get task, all attached items move together. When
you select this option, be sure to also click Link To on the Task page and select the object to which
you wish to make the attachment.

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 Keep uninvolved hand still — when the model uses one hand to perform a task, activate this
checkbox if you want the location and posture of the other hand to remain unchanged.
3. Click the Who field and pick a human model.If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field. The What field is automatically
populated with the object grasped by the selected human model and the object is displayed with a
manipulator.
4. Move the grasped object to the Put target destination (the destination at which you wish the human
model to put the selected object).
A set of Hand glyphs or ghosts are displayed on the object to help you guide it into the desired Put
location. Use the hands to help visualize how the human model will be positioned at the end of the
Put task.

5. If you set Link to, you can select an object to which to link the selected object, for example, a table.
If the table is then moved and you Reset to Initial Context, the selected object is still placed with the
same relative offset to the Linked object, even after the environment has been modified.
6. You can set Keep uninvolved hand still — when the model uses one hand to perform a task, activate
this checkbox if you wish the posture of the other hand to remain unchanged.
7. Click Next.
The Task Simulation Builder calculates and displays (by means of footprints) a path for the human
model to traverse on its way to the Put target destination.

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 The Task Simulation Builder then plays a simulation of this action, and displays the Move Body to
Target page.

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 8. If you wish to change the posture adopted by the human model whilst moving to the get destination,
click Change Walk Posture. The Human Posturing and Placement Manipulator dialog boxes

appear, enabling you to adjust the posture adopted during the walk action..Click to accept the
change.

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 9. If you wish to change the Put target destination you set previously:
a. Click Change Destination.
The human model is displayed with a manipulator.
b. Move the human model to the desired Put target destination.

c. Click .
The Task Simulation Builder recalculates the action and plays its simulation with the new Put
target destination.
10. If you wish to route the human model via a particular point, for example, to ensure the model avoids
a dangerous area in the production environment:
a. Click Add Walk Via Point.
The human model is duplicated in brown (this is known as a ghost model) with an enumerator
tag and a manipulator.
b. Move the ghost model to the desired position.

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 c. Click .
The Task Simulation Builder recalculates the action (including the via point) and plays its
simulation.
d. Add more via points. Each via point is represented by a ghost model (and enumerator) and each
time you confirm a via point, Task Simulation Builder plays a simulation of the action.

Note
• You can select any ghost model and modify its position or delete it.
• You can configure the Task Simulation Builder to consider selected objects to be obstacles
and to be avoided when planning human model motion. For example, if you set a table to
be an obstacle, you will not have to implement a via point to prevent the human model
from walking through the table. For more information, refer to To Manage Obstacles.

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 11. You can click Clear All Via Points if you wish to clear the via points you set. The Task Simulation
Builder plays a simulation of the action.

12. In the preview area, use the buttons to view a simulation of the force.
13. Click Next.
The Task Simulation Builder places the human model at its Put target destination, while grasping the
selected object, and displays the Place the Object page.

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 14. Click Edit Current Posture <#>. The Human Posturing dialog box is displayed, enabling you to set
the posture of the human model while putting the selected object at the Put target destination. Set
the posture as desired and click Close.
15. If you wish the human model to put the selected object at its target destination smoothly:
a. Click Insert Via Posture Before <#>.

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Create a Position task

The human model is duplicated in brown with an enumerator tag and the Posture Library tab
of the Human Posturing dialog box is displayed.
b. Either configure the desired posture or select a posture from the posture library.

c. Click .
The Task Simulation Builder recalculates the action and displays the ghost model in the new
posture.
16. If you wish to add more via postures:
a. Run the preview and stop it at the point you wish to add the new posture.
b. Click Insert Via Posture Before <#> and configure the new posture in the Human Posturing
dialog box.

c. Click .
The new posture is inserted before the current posture (the point where you paused the
preview). Each via posture is represented by a ghost model and enumerator.

Note
• You can select any ghost model and modify its position or delete it.
• Clicking any of the ghost postures jumps the preview to that point.

17. Click Done. The Task Simulation Builder creates the Put task, displays it in the Object Viewer and
Sequence Editor, and displays wizard introductory page.

Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Create a Position task

Position tasks are similar to Put tasks - the difference is that the human continues to hold the object at
the end of a Position task. This is useful, for example, when using a power tool to fasten a part. You can
position the tool at the first fastener location, and at subsequent locations. The human continues to hold
the power tool at each Position task.

Procedure

1. From the Human tab in the Task Simulation Builder, click Position.
The Task Simulation Builder: Add new task: Position page is displayed.

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 Note
• Keep uninvolved hand still — when the model uses one hand to perform a task, activate this
checkbox if you want the location and posture of the other hand to remain unchanged.

2. Click the Who field and pick a human model. If you picked a human model before launching the
Task Simulation Builder, it is automatically populated in the Who field. The What field is automatically

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 populated with the object grasped by the selected human model and the object is displayed with a
manipulator.
3. Move the grasped object to the Position target destination (the destination at which you wish the
human model to put the selected object).
A set of Hand glyphs or ghosts are displayed on the object to help you guide it into the desired
Position location. Use the hands to help visualize how the human model will be positioned at the end
of the Position task.

4. If you set Link to, you can select an object to which to link the selected object, for example, a table.
If the table is then moved and you Reset to Initial Context, the selected object is still placed with the
same relative offset to the Linked object, even after the environment has been modified.
5. Click Next.
The Task Simulation Builder calculates and displays (by means of footprints) a path for the human
model to traverse on its way to the Position target destination.

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 The Task Simulation Builder then plays a simulation of this action, and displays the Task Simulation
Builder: Move Body to Target page.

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 6. Set the Position target destination:
a. Click Change Destination.
The human model is displayed with a manipulator.
b. Move the human model to the desired Position target destination.

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 c. Click .
The Task Simulation Builder recalculates the action and plays its simulation with the new
Position target destination.
7. If you wish to change the posture adopted by the human model whilst moving to the get destination,
click Change Walk Posture. The Human Posturing and Placement Manipulator dialog boxes

appear, enabling you to adjust the posture adopted during the walk action. Click to accept
the change.
8. If you wish to route the human model via a particular point, for example, to ensure the model avoids
a dangerous area in the production environment:
a. Click Add Walk Via Point.
The human model is duplicated in brown (this is known as a ghost model) with an enumerator
tag and a manipulator.
b. Move the ghost model to the desired position.

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 c. Click .
The Task Simulation Builder recalculates the action (including the via point) and plays its
simulation.
d. Add more via points. Each via point is represented by a ghost model (and enumerator) and each
time you confirm a via point, Task Simulation Builder plays a simulation of the action.

Note
• You can select any ghost model and modify its position or delete it. This is especially useful
if you are editing a task created by the Posture Recorder (refer to Create Taks with Posture
Recorder). In this case, you can adapt tasks and motion created from your motion capture
environment to fit your virtual environment.

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 • You can configure the Task Simulation Builder to consider selected objects to be obstacles
and to be avoided when planning human model motion. For example, if you set a table to
be an obstacle, you will not have to implement a via point to prevent the human model
from walking through the table. For more information, refer to To Manage Obstacles.

9. You can click Clear All Via Points if you wish to clear the via points you set. The Task Simulation
Builder plays a simulation of the action.

10. In the preview area, use the buttons to view a simulation of the task.
11. Click Next.
The Task Simulation Builder places the human model at its Position target destination, while grasping
the selected object, and displays the Place the Object page.

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 12. If you wish to modify the posture of the human model:
a. Click Edit Current Posture <#>.
The Human Posturing dialog box is displayed, enabling you to set the posture of the human
model while placing the item.

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 Create a Pose task

b. Set the posture as desired.

c. Click Next.
The Task Simulation Builder displays the human model in the posture you set.
13. If you wish to modify the posture of the human model while placing the item at its target destination:
a. Click Insert Via Posture Before <#>.
The Posture Library tab of the Human Posturing dialog box is displayed.
b. Either configure the desired posture or select a posture from the posture library.

c. Click .
The Task Simulation Builder recalculates the action and displays the ghost model in the new
posture.
14. Play the preview, stop it at any point, and either edit the current posture (Edit Current Posture <#>)
or insert another posture before the current one (Insert Via Posture Before <#>).
15. Click Done. The Task Simulation Builder creates the Position task, displays it in the Object Viewer and
Sequence Editor, and displays the wizard introductory page.

Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Create a Pose task

Pose tasks enables you to posture and move the human model in any way you need, and assign a
time-frame for the task. A Pose task can consist of a single posture, or you can define several postures to
create a motion sequence. This task is helpful for simulating activities that are not easily represented by
the other Task Simulation Builder task types. For example, you can use Pose tasks to show the human in
transition from a sitting to a standing position.

If you have a license for the Motion Capture toolkit, you can also link a video to a Pose task for enhanced
editing of motion sequences. For example, you can use Posture Recorder to record the exact motion you
require and then link then a corresponding video to the Pose. With the video playing alongside the Pose
motions, you can then review, split, and insert additional tasks within the sequence.

Procedure

1. From the Human tab in the Task Simulation Builder, click Pose.
The Task Simulation Builder: Add new task: Pose page is displayed.

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 2. Click the Who field and pick a human model.If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field.

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 3. In the Pose field, you can click the Set Posture button to launch the Human Control tab of the
Human Posturing dialog box.Using the various features of the Human Control tab, you can select or

create a desired Posture. After returning to the Pose dialog box, click .
4. In the Duration field set the length (in seconds) of the Pose task.
5. Set Rel. to and select an object if you wish the Pose task to be performed relative to the selected
object. This means that if the selected object is later moved (and the Initial Context updated), the
Pose task will still be performed with the same relative offset to this object. For example, if the Pose
task causes the human model to perform an action on a table, then the action will still be performed
on the same table even after moving the table.
6. You can link the motion of the human model in the current pose to the motion captured in a video.
For example, you can use Motion Capture to record the exact motion you require and then link the
resultant video to the pose. For information on how to do this, see Link Video to Pose Task. The
imported motion is displayed as a single task in the Sequence Editor.
7. After linking a video, you can split it. For example, you can run the new task in the Task Simulation
Builder, stop it when the human model reaches a specific point, and split it into two separate tasks.
You are then able to insert a Get or Put task between the two new tasks. For information on how to
do this, see Split Video Task.
8. Click Next.
The Edit pane opens and the Task Simulation Builder plays a preview of the task.

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 Edit options Include:
• Edit Current Posture <#> – Run the preview, pause it at any point, and use this button to modify
the current posture.

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 • Insert Via Posture Before <#> – Run the preview, pause it at any point, and use this button to add
a posture before the current posture. In this way, you can define a motion sequence (or series of
postures to transition through) within the pose.

The following figure shows an additional ghost.

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 • Delete Current <#> – Run the preview, pause it at any point, and use this button to delete the
current posture.
• You can select any posture and modify its position or delete it. This is especially useful if you are
editing a task created by the Posture Recorder (refer to Create Task With Posture Recorder). In
this case, you can adapt tasks and motion created from your motion capture environment to fit
your virtual environment.
• Delete All – Use this button to delete all the postures (except the initial one).
9. If you wish to reassign the pose operation to another human model with different physical
parameters, the current operation may not be optimal. For example if you originally planned the
pose operation for a tall human model and wish to reassign it to a short human model, the new
model may not be able to reach objects, and/or its feet may not touch the floor. To resolve this issue
after reassigning the operation, click the Resimulation Options tab.

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 Set the relevant parameters as follows, preview the updated pose operation, and make more changes
if necessary until you are satisfied.
• Set the Joint angles as follows:
◦ Set the Anchor site.
This is the body part whose pose remains anchored in the same place for both the original and
new scenarios. You can select from the following: H_Point (the hip), Right/Left Heel, Right/Left
Toe, or Sight.
◦ Select one of the following:
◊ Keep posture, but re-solve arms and torso - Joint angles for the lower limbs are copied from
the original scenario, however a new reach posture is computed for both the torso and arms,
using the desired hand targets as goals.
◊ Keep posture, but re-solve arms - Joint angles for the lower limbs and torso are copied
from the original scenario, however a new reach posture is computed for the arms, using the
desired hand targets as goals.
◊ Keep posture and location - Joint angles are copied from the original scenario, and the
relative location of the selected Anchor Site also remains at the original location.
Or
• Set Targets to be one of the following:
◦ Pelvis, hand and foot - This option is intended for seated poses or other postures where it is
necessary to retain the relative pelvis location at the original location.
◦ Hand and foot - This option is intended for standing postures where the feet may be placed in a
specific location relative to the ground, for example, propped on a stool. The pelvis and torso are
repositioned as required.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Link a video to a pose task

You can link the human model in the current pose to the motion captured in a video. For example, you can
use Motion Capture to record the exact motion you require and then link the resultant video to the pose.
This may be easier and quicker than configuring all the equivalent tasks in the Task Simulation Builder.
The imported motion is displayed as a single task in the Sequence Editor and is actually composed
of multiple ghost models in a continuously-variable selection of poses which, when viewed in quick
succession, make up the motion of the new task.

Procedure

1. In the Task Simulation Builder: Add new task: Pose or Edit task: Pose page, select Link task to
video.
2. Type the Path to the required video or use the Browse button to select it.
A video window opens in your work area.

3. Play the video up till the desired start point and click Set Simulation Start (at the bottom the
video window). The Video start frame (time) field is automatically populated with the start time
value.
4. Click Next.

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 Split a video task

The Task Simulation Builder displays the Human Pose window and plays the video. The human
model tracks the motion (in the Graphic Viewer) shown in the video and a new Pose task is displayed
in the Sequence Editor.

5. You can click the Show Ghosts button to display all the ghost models created by the Task
Simulation Builder from the video.

If you wish, it is possible to edit these manually to fine-tune the new task. Click again to hide the
ghost models.

Split a video task

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 After linking a video, Task Simulation Builder displays it in the Sequence Editor as a single task. You can
split it into a number of tasks. You can then insert other tasks between these tasks to better represent your
work flow. For example, you can run the new task in the Task Simulation Builder, stop it when the human
model reaches a table, split it into two separate tasks, and then insert a Get, Regrasp, Put, or Apply Force
task between the two tasks. It is also possible to split these tasks by repeating the split process on any of
the tasks resulting from the previous split.

Procedure

1. Right-click the task in the Sequence Editor and select Operation Properties to edit the task. The Edit
task: Pose window appears.
2. If the video is already linked to the pose, click Next. If this is not the case, select a video first. The
Human Pose window is displayed and the simulation preview begins.
3. When the simulation reaches the desired splitting point, click Stop Preview. If necessary, use the time
slider control to fine-tune the split point.
4. Click Split Task Before (the number shown in this button represents the ghost model number).
The Split task dialog box appears.

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 The Original task name and a default New task name are displayed. The original task ends at the
splitting point. The new task begins at the splitting point. Edit the new task name as desired.
5. To insert a task between the new tasks, proceed as follows:
a. Set Insert new task between the split tasks and check Get, Regrasp, Put, or Apply Force.
The default Task name (depending on the task type selected) is displayed and the Object field
becomes active.
b. Pick an Object on which the new task operates.

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 c. In the Hand(s) field, select whether the human model uses the Right, Left or Both hands on the
selected object.
If you select Automatic, the system selects the optimal setting according to a predefined
algorithm.
d. Click Ergonomic Properties and set the ergonomic parameters of the new task as described in
EAWS.
These parameters do not impact the new task but they are used to calculate its EAWS score.
These parameters include: handling type, number of workers required, push/pull considerations,
and hand grips (the latter is not relevant when inserting an Apply Force task). This feature is not
relevant when inserting a Put task.
e. If you wish to create an object quickly when inserting a Get or Apply Force task without having
to model the object or import it. For example, if you are creating a task just to calculate its EAWS
score; you can do this as follows.
i. Click Create Object.
The Create Object dialog box appears.

ii. Type a name for the new object and click OK.
The Loads and Weights dialog box appears.

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 iii. Assign loads and weights to the new object as described in Assign Weight to Objects and
click OK.
The new object is created and displayed.

iv. You can click Scale object to enable quick scaling of the new object.

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 Adjust the size of the new object (or an existing object) using its scale lines or the dialog
box and click OK.

f. Click Loads and Weights to apply a weight to the selected object.

For information on how to do this, refer to Assign Weight to Objects.
g. Set Visible to display the selected item or clear it to hide the item.
h. If you are inserting a Put task, you can set Relax hands after release and if you are inserting an
Apply Force task, you can set both this parameter and Release object when done (the latter is
set by default).

i. If you are inserting an Apply Force task, you can configure the Apply Force Details parameters.
Select a Force and set the Task duration to configure the length of time the force is exerted. If
only one force has been defined, it is selected by default.
j. In the Split task dialog box, click OK.
The Task Simulation Builder calculates and generates the required motions. The resulting tasks
are displayed in the Sequence Editor.

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 When you now play the simulation, the human model picks up the selected object.

6. You can split one of the resulting tasks. For example, after splitting the Pose_Rec_2 task and inserting
a Put task, the result might be as follows.

When editing a previously-split task, the link to the video file is retained and the default Video start
time is the time where you split the video on the previous occasion.

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Create a Regrasp task

Create a Regrasp task

The Regrasp task enables updating the human’s grasp of an object at any point within the simulation. This
task lets you change which hand(s) grasp an object. You can also change the location/orientation of the
object as well as the grasp or posture of the human.

Note
The duration for a Regrasp task is very brief. If you wish to show a motion (with a specific duration), it
is recommended to insert a Position or Pose task prior to regrasping. For example, if the human model
needs to bend or stand up and then regrasp, first move the human model to the necessary position and
then add a Regrasp task.

Procedure

1. From the Human tab in the Task Simulation Builder, click Regrasp.
The Task Simulation Builder: Add new task: Regrasp page is displayed.

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 2. Click the Who field and pick a human model. If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field.
3. Click the What field and pick the object you wish the human model to get.

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 4. For Pose, you can click the Define Regrasp Posture button to launch the Human Control Panel. You
can set a custom posture if you wish to make use of bracing (leaning) functionality. After returning to

the Pose dialog box, click .

5. Click the Grasp Hand(s) field and select Right, Left, Both, or Automatic to define which hand(s) the
human model uses to grasp the selected object.
6. Click Next.
The Task Simulation Builder plays a simulation of this action, and displays the Task Simulation
Builder: Add new task: Regrasp Step 1: Regrasp page.

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 7. To fine tune the model’s grasp, click Change Final Posture. This launches the Human Posturing
dialog box, which you can use to adjust the model’s grasp of the object.
8. Click Next.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Create a Wait task

The Wait task lets you insert waiting time in your simulation time-line to account for pauses. For example,
after walking to the conveyor, the human needs to wait for the part to arrive. This does not cause any
change in the previously defined task.

Procedure

1. From the Human tab in the Task Simulation Builder, click Wait.
The Task Simulation Builder: Add new task: Wait page is displayed.

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 2. Click the Who field and select a human model. If you selected a human model before launching the
Task Simulation Builder, it is automatically populated in the Who field.
3. Specify the Wait duration.
4. Click Next.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Switch between sitting and standing

At any point during a simulation, you can switch the position of the human model from sitting to standing
and vice versa. This task does not include any type of motion for the model, it simply changes the ‘state’ so
that all tasks added after switching recognize the new state (sitting or standing). In order to simulate the
motion of sitting or standing, you can use the Pose task.

Procedure

1. From the Human tab in the Task Simulation Builder, click Stand or Sit.
The Task Simulation Builder: Add new task: Sit or Task Simulation Builder: Add new task: Stand
page is displayed accordingly.

2. Click the Who field and select a human model. If you selected a model before launching the Task
Simulation Builder, it is automatically populated in the Who field.
3. Click Next.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Create a Touch task

Using Touch tasks you can select an object that the human model needs to touch, for example, to press a
button to activate a conveyor. A Touch activity may include a walk to get to the final Touch destination. You
can define the final posture and insert via postures to specify a path to implement the Touch activity.

Procedure

1. From the Human tab in the Task Simulation Builder, click Touch.
The Add new task: Touch page is displayed.

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 2. Click the Who field and pick a human model.If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field.
3. Configure What in one of the following ways;
• Click Right hand grasp or Left hand grasp and pick an item to touch. You can also set both hands.

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 When the task is ready, the human model extends an open hand to touch the item. Upon touching
it, the human model flexes its fingers as far as possible to grasp the object.

You can check Precision to use a precision grasp. The fingers close around the item - this is best
when touching small items, such as screws.

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 • Click Object, pick the touch object, and set Hands to Right, Left, Both, or Automatic to define
which hand(s) the human model uses to touch the selected object.
4. Click Next.
The Add new task: Touch Step 1: Move Body to Target page displays with the Edit pane open.

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 Edit options include:
• If you wish to change the posture adopted by the human model whilst moving to the get
destination, click Change Walk Posture. The Human Posturing and Placement Manipulator

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 dialog boxes appear, enabling you to adjust the posture adopted during the walk action. Click
to accept the change.
• Change Destination – use this to modify the final destination of the Touch activity.
• Add Walk Via Point – use this to add via points to describe the route you want the human model
to follow. You can use the Clear All Via Points option if you want the model to follow a linear path
to reach its Touch destination.
5. Click Next.
The Add new task: Touch Step 2: Touch the object page displays with the Edit pane open.

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 Use the options in the Edit pane to refine the final Touch posture.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Create an Apply Force task

Using the Apply force task, you can transfer the force (and weight) associated with an object to a human
model. The human posture updates according to the forces applied during the task, reflecting the level
of exertion. The human model transitions smoothly in and out of these exertion postures. Forces applied
during these tasks are reflected in the ergonomic reports generated using the Task Simulation Builder.
You can add and edit forces (define them as reaction forces) using the Load and Weights command
(Configure Loads/Weights for Human Events).

Procedure

1. From the Human tab in the Task Simulation Builder, click Apply force.
The Add new task: Apply force page is displayed.

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 2. Click the Who field and pick a human model. If you picked a human model before launching the Task
Simulation Builder, it is automatically populated in the Who field.
3. Click the What field and pick the object on which you wish the human model to exert force.
4. In the Hand(s) field, select which hand the human model uses to apply force, or allow the hand
selection to be Automatic.

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 5. Either define or upload a force profile:
• To define a force profile, proceed as follows:
a. Retain the default Define a force profile setting.
b. Set the Task duration as required.
c. Set a time for Apply selected force at – the force ramps up linearly during the Task duration
and reaches its maximum value at this time. After reaching the maximum value, the force
remains unchanged until the end of the Task duration.
• To upload a force profile, select Upload a force profile and navigate to a predefined force profile
file.
This file is a custom data file in .csv format containing force and time details to be imported into the
Force Profile task. This enables you to use information obtained from data collection devices, such
as a hand held force gauge, when authoring simulations. When a data file is used, the direction of
the force is applied as defined on the object currently held by the human model. However, force
magnitudes and task duration are obtained from the file. The system identifies the peak force in
the file and transitions the human model to a corresponding posture at this time (if the same
peak value is found more than once, this occurs at the first instance). The format of the file is two
columns: column 1: time (seconds), column 2: force (newtons). The time can be entered at any
sampling rate, however, Process Simulate samples them at 30 fp.
6. Select forces, as follows:

a. Click the Load and Weights button to open the Load and Weights dialog box to add,
remove, or edit loads, weights, and forces.
b. In the Apply/Details table, click one of the checkboxes to activate the weight and forces to be
applied.
7. Click the Options pane.

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 Set the following options as desired:
• Release object when done - the human model releases the object upon which it exerts force
when the activity is finished
• Lock feet - the human’s feet remain locked together during the activity

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 8. Click Next.
The Add new task: Apply force Step 1: Apply force page opens and displays the Edit pane.

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 9. If you wish to change the posture adopted by the human model whilst applying the force, click
Change Exertion Posture. The Human Posturing dialog box appears, enabling you to adjust the

posture. Click to accept the change.

10. If you wish to add a posture, click Insert Via Posture at time <time>. The Human Posturing dialog

box appears, enabling you to set the new posture. Click to accept the change.
11. Use the Delete Current or Delete All buttons if you wish to remove postures.

12. In the preview area, use the buttons to view a simulation of the
force.The Current force displays the magnitude of the force exerted as it changes during the preview,
and the Exertion pose time displays the duration of the exertion. These are read-only fields.
13. Click Done.

Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Task Simulation Builder Object Tasks

You can use Object tasks to include non-human objects in a simulation. For example, you can move parts
to different locations, cause them to wait for a period of time during the simulation, and attach or detach
them to other parts.

Move Task

Using the Move task, you can relocate or transition an object from one location to another. The object
follows a linear path to reach its destination, or you can add Via Postures, to define the route you want the
object to follow.

Procedure

1. From the Object tab in the Task Simulation Builder, click Move.
The Add new task: Move page is displayed.

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 2. Click the What field and pick an object. If you picked an object before launching the Task Simulation
Builder, it is automatically populated in the What field.

3. Click the Where field and pick a location for the object. You can also use the Frame of
Reference button to set the location at a frame location.

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 4. Click the Relocate icon or the Placement Manipulator icon for the What object.
5. If you set Rel. to, you can select an object relative to which the object is located, for example, a
conveyor.
6. In the Duration field set the length (in seconds) of the Move task.
7. Click Next.
The Edit pane opens.

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 8. Play the preview, stop it at any point, and set any of the following Edit options:
• Edit Current Move Location <#> – use this to modify the current move location for this object.
• Insert Move Location Before <#> – the object follows a linear path to reach its destination, or you
can choose to add Via Points to define the route you want the object to follow.

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 You can select any via point and modify its position or delete it. This is especially useful if you are
editing a task created by the Posture Recorder (refer to Create Taks with Posture Recorder). In
this case, you can adapt tasks and motion created from your motion capture environment to fit
your virtual environment.
9. Click Done.

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Wait Task

Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Wait Task

Using the Wait task, you can set a period of time during which the object is stationary. For example, if a
box moves on a conveyor, you can add a Wait task when it arrives at a workstation, to allow a human to
fill it. After it is full, you could add another Move task to keep the box moving on the conveyor past the
workstation.

Procedure

1. From the Object tab in the Task Simulation Builder, click Wait.
The Add new task: Wait page is displayed.

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 2. Click the What field and pick the object that you wish to remain stationary.
3. Click the Duration field and enter the number of seconds for which the object should not move.
4. Click Next.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

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 Attach Task

Attach Task

Using the Attach task you can attach one object to another.

Procedure

1. From the Object tab in the Task Simulation Builder, click Attach.
The Add new task: Attach page is displayed.

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 2. Click the What field to select the object for attaching.
3. Click the To field to select the target object to which to attach.
4. Click Next.

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 Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

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Detach Task

Detach Task

Using the Detach task you can break an attachment between objects.

Procedure

1. From the Object tab in the Task Simulation Builder, click Detach.
The Add new task: Detach page is displayed.

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 2. Click the What field to select the object for which to break the attachment. If you select an object
with an attachment, the relevant attachment is specified.

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 3. Click Done to complete the detachment.

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 Use device

Note
For descriptions of additional options, see Accessing the Task Simulation Builder.

Use device

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 You can access the Use device task on the Skills tab. This enables you to cause a human model to push a
trolley (any item on wheels or even items without wheels) from one place to another. After selecting the
human model, the item to push, and the magnitude of the push force, you must configure grasp locations
on the pushed item for the human model to hold (it is mandatory to set grasp points for both hands). If
you wish to load an item on the device, you can attach it and modify the push force required. At this stage,
the Path Points table is populated with the initial grasp action. You can then add as many via points to the
Use device task as required, each one as an item in the table. This is done by moving the human model
and/or pushed item to a new location. When the task is complete, the Task Simulation Builder validates
the path and you can then preview the new task. The new task is displayed in the Object Viewer and is
marked by the T (task) icon. The grasp action and via points are marked with the A (action) icon. After this,
it is possible to modify any of the task parameters to achieve more accurate results.

To create a use device task:

Procedure

1. In the Task Simulation Builder, click the Skills tab.

2. Click Use device.

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 To create a use device task:

The Use Device dialog box opens.

Human displays the selected human model.

3. Click Device and pick the device/item for the human model to push.
4. Set the Push force as required.
5. Configure the Path Points section to set the path of the motion, as follows:

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To create a use device task:

a. Click Right grasp and click a place on the pushed item. This is where the human model grasps
the item with its right hand when pushing it. A manipulator is automatically opened to adjust
the position.

Adjust the position of the grasp location until you are satisfied and close the manipulator. You

can use to reopen the manipulator and adjust the hand position, and to zoom in to
the hand.
b. Do the same for Left grasp.

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 To create a use device task:

c. Note
After configuring the grasp parameters, the remaining parameters are activated.

Click Set Initial Grasp Locations.

The Path Points table is populated with the initial Grasp action. When running the simulation,
the human model moves to the device and grasps it - you do not have to specify the motion for
this part of the task.

The Set Initial Grasp Locations button becomes Add After Point, enabling you to add via
points to the motion path.
d. Add a via point to the path of the task, as follows:
i. Set Step direction to Forward, Backward, or Side step, as required.
ii. Set Move to Human, Device, or Human and device, as required.

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To create a use device task:

iii. Click Move the selected human and or device .

iv. Use the manipulator to select a destination for the via point.

v. Click Add Point.

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 To create a use device task:

The via point is added to the task table.

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To create a use device task:

vi. Add additional via points as required. The task must contain a Grasp action and one via
point.

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 To create a use device task:

vii. When you wish to load the device, proceed as follows:

A. Use Move to place the human model close to the item to be loaded.
B. Set Attach Object by picking the desired object (a barrel in this example).

C. Set Update force after attach as required. This is necessary if you are attaching a
significant load, in which case the human model needs to apply greater force.
D. Click Add After Point.

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To create a use device task:

The loading point is added to the task table which now also shows the updated force
and the Attach icon.
6. Click Solve Motions.

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 To create a use device task:

Task Simulation Builder validates the paths for all the requested motions, creates the new Use
device task, and creates a new operation in the Object Viewer.

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 7. Click Play preview to play a preview of the simulation. You can use any of the other play buttons
or the play slider to skip to parts of the simulation of special interest, or you can manually enter the
time in seconds from where to play the simulation.
8. Optionally, in the Occurs after field, you can specify a Task Simulation Builder task in the current
simulation to configure the order of the new Use Device task - the new task is inserted after the
specified task. If you leave this parameter empty, the new task is last.

You can use any of the following optional features:

• At any stage, you can click a via point in the Path Points task table. Task Simulation Builder jumps to
the specified via point and enables you to modify any of its parameters. Click Update the selected via

point when done.If necessary, select a via point and click to remove it from the Path Points table.

• Optionally, click Show/Hide ghosts to hide or display the ghost models.

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 • Right-click the task and its actions in the Object Viewer and select Properties. The following are
available:
◦ The Reach action: Provides read-only information.
◦ The via points: Enable you to modify their Duration.
◦ The task: Opens the task for editing.

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Editing simulations

Editing simulations

• In the Sequence Editor, right-click the task you wish to edit and select Operation Properties.
The Task Simulation Builder opens and displays the selected task, enabling you to make the required
changes. For example, you may wish to exchange the part transported by the human model.

Note
◦ You cannot select a different human model for Human tasks or a different object for Object tasks. If
you wish to do this, create a new simulation.
◦ All the new tasks on the left side of the Task Simulation Builder are inactive until you finish editing
the selected task.
◦ You can use Update Human or Object to reassign all tasks from one human to another (or from
one object to another) in the current simulation.

Task Simulation Builder Settings

Create Simulation

Procedure

1. From the Task Simulation Builder menu, select Simulation → Create Simulation.
The Create New Simulation window is displayed.

2. Edit the Name of the new simulation.

3. Set the Scope under which to save the new Teamcenter dataset.
4. Click OK.
The new object is the simulation root and is nested under the Operation Root in the Object Viewer.

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 Set Active Simulation

All the simulation tasks and actions are nested under the new simulation root.

Set Active Simulation

After creating new simulation roots, you can set one of these to be active. When Task Simulation Builder
creates tasks and actions, these are nested under the active simulation root.

Procedure

1. From the Task Simulation Builder menu, select Simulation → Set Active Simulation.
The Set Active Simulation window is displayed.

2. Select a simulation root from the list and click OK.

Copy Active Simulation

You can duplicate an entire simulation root. This is useful if you wish to create a scenario with a small
modification and compare this with the original. For example, you may wish to see if tasks can be executed
more efficiently with a taller human model.

Procedure

1. Set the simulation you wish to copy as the active simulation, see Set Active Simulation.

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Initial Context

2. From the Task Simulation Builder menu, select Simulation → Copy Active Simulation.
The system copies the source simulation and displays it on the Object Viewer. By default, the copy is
named with the name of the source simulation with the _Copy suffix.

3. Optionally, you can modify the copy to suit your requirements.

Initial Context

The system continually updates the location of each object. However, by default when you run a
simulation, it returns all objects to their locations at the time when the simulation was created. This is
known as the initial context.

To set the initial context of a simulation:

• Click Simulation → Set Initial Context from the Simulation menu.

However, you may wish to run a simulation without resetting the initial context. For example, if a human
model moves an object to a work area, and another picks it, that should occur from the object's current
position (and not from the one defined in the initial context).

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 To run a simulation using the current context:

Procedure

1. Click Simulation → Manage Initial Context from the Simulation menu.

2. Set Set Initial Context on-the-go using current simulation details.

3. Run the simulation.

To return a simulation to its initial context:

• Click Simulation → Reset to Initial Context from the Simulation menu.

Set Initial State for Human Model or Object

You can start a simulation with the human model initially grasping an object by using the Set Initial
State for Human command. This makes it unnecessary to insert a Get Task at the start of the simulation.
Similarly, if you want items to be attached to each other at the start of a simulation, for example, a part to
be transported along a conveyor, you can use the Set Initial State for Object command rather than have
to create an Attach Task.

Note
If you want the human model to pick up an item or to attach objects to each other during a simulation,
add these tasks using Task Simulation Builder.

To set the initial state for a human model:

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 Procedure

1. Click Simulation → Set Initial State for Human from the Simulation menu.
The Set Initial State for Human dialog box appears.

2. Pick a Human model.

3. Set Posture to Standing or Sitting. This affects the posture adopted by the human model when
picking up the selected item and will also affect calculations made by the ergonomics tools.
4. Set the State of Right hand and/or Left hand to Grasping.
The relevant Object field becomes active.

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 5. Pick the desired Object(s) you wish the human model to grasp.
6. Click OK.

To set the initial state for an object:

Procedure

1. Click Simulation → Set Initial State for Object from the Simulation menu.
The Set Initial State for Object dialog box appears.

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Manage walk obstacles

2. Pick an Object.
3. In the Attach to list, pick items to which the object is to be attached when simulation begins.
4. Click OK.

Manage walk obstacles

You can set objects to be considered as obstacles by the Task Simulation Builder - when planning human
simulations, Task Simulation Builder routes the human model to avoid these obstacles. For example,
setting tables to be obstacles causes Task Simulation Builder to route the human models’ walk path to
avoid the tables. This saves effort as you do not have to create via points to avoid obstacles when creating
human tasks, and after configuring obstacles once, you do not have to repeat the process.

Procedure

1. From the Task Simulation Builder menu, select Simulation → Manage Walk Obstacles.
The Manage Walk Obstacles window is displayed.

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 Update Human or Object

2. Pick the objects you wish to be considered as obstacles.

Note
All invisible (blanked) objects are set to be obstacles. If your human model is following a longer
route than expected, this may be due to invisible objects placed in the direct route.

3. If necessary, you can use the Delete and Delete All buttons to remove objects from the obstacles list.
4. Click OK.

Update Human or Object

Task Simulation Builder provides the flexibility to make global changes in tasks.

Procedure

1. From the Task Simulation Builder menu, select Simulation → Update Human or Object.
The Update Human or Object window is displayed.

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Delete All Tasks

2. When this window opens, the New is the same as the Original column. Click the name of the human
model/object in the New column and pick a new human model/object. For example, if you click Jack
and pick Jill, Task Simulation Builder replaces the Jack human model with the Jill human model in all
the tasks performed by Jack.orClick an object in the New column and pick an alternative object. For
example, if you click Box and pick Key, Task Simulation Builder replaces the Box with the Key.
3. Click OK.

Delete All Tasks

You can delete all the tasks created with Task Simulation Builder in a single operation.

• From the Task Simulation Builder menu, select Simulation → Delete All Tasks.or
• Delete the Human Simulation Root in the Sequence Editor.

Reorder Tasks by Actor

The Reorder Tasks by Actor command displays the tasks in the Task Simulation Builder according to the
human model or object preforming the task.
To reorder tasks by actor:

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 • From the Task Simulation Builder menu, select Simulation → Reorder Tasks by Actor. The tasks are
displayed in the updated order.

The following figure shows a typical Task Simulation Builder scenario in the Sequence Editor.

The following figure shows the same scenario after running the Reorder Tasks by Actor command.

Force Resimulation

Under certain circumstances in complicated Task Simulation Builder scenarios, modifying a task may not
always force later tasks to resolve correctly and the simulation may become unsynchronized.

If the simulation does not run as expected, select Simulation → Force Resimulation from the Task
Simulation Builder menu to resolve the entire simulation and synchronize all the tasks.

Create Task Using Posture Recorder

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 This command enables you to create a simulation by recording an operation with the Posture Recorder.
By default, the simulation is named PostureRecOp and you can nest it as a human task under the human
task simulation root.

This command is especially useful when performing Motion Capture because it converts the recorded
motion to operations.

Note
You can also record the movement of objects.

Procedure

1. From the Task Simulation Builder menu, select Simulation → Create Task Using Posture Recorder.
The Posture Recorder opens.

2. Click the Record Humans and Objects list and pick the desired human model or any object in motion
in the Graphic Viewer or the Object Viewer, or write their names.

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 Note
You can make multiple selections. Your hardware configuration determines the number of items
you can record simultaneously without affecting performance.

3. Click . The recording session starts.

4. Play the motion you wish to record. You can use any method to create motion, for example, Motion
Capture, Robot Jog, or moving objects manually.

5. When done, click .

The Operation Scope dialog box appears.

6. Enter a name for the recording in the Name field

7. Select a target in the Scope field. You can select any compound operation or a human task
simulation.
8. The Operation Scope dialog box informs you how many frames have been recorded. In this example,
65 frames. You can set Transfer every to reduce the number of frames to be generated and saved in
the new operation.
9. Click OK.
The following progress dialog box is displayed.

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 The Operation Count field shows the number of operations that have been processed.

Note
If there are existing simulations that contain human tracking operations (human models following
moving objects), the system omits tracking operations in the new simulation in order to reduce the
demand on system resources. The result is a new sequence of operations containing posture, position,
and object flow motions, resulting in optimal execution performance.

Export and Import Simulations

You can export simulations from Task Simulation Builder and import them into other processes. When
performing the export, only simulation data is stored, thus, after performing the import, it is necessary to
select relevant human models using Update Human or Object.

To export a simulation:

Procedure

1. From the Task Simulation Builder menu, select Simulation → Export simulation.A standard Save As
dialog box opens.
2. Set a File name for the exported file and select a path. The currently active simulation is exported and
stored in a file in .tsf64 format.
3. Click Save.

To import a simulation:

Procedure

1. Open the target process in Task Simulation Builder.

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 Task Simulation Builder Reports

2. From the Task Simulation Builder menu, select Simulation → Import simulation.A standard Open
dialog box opens.
3. Navigate to the desired file you exported previously and click Open.The simulation is imported and
added to the Object Viewer.

Task Simulation Builder Reports

You can create any of the ergonomic reports supported by Process Simulate for simulations created using
the Task Simulation Builder

From the Task Simulation Builder menu, select Simulation → Analysis Tools and proceed as described in
Ergonomic Analysis Tools.

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 Creating a timing report

The Strain Index, Energy Expenditure, and Walk Analysis analysis tools are only for Task Simulation
Builder simulations.

Creating a timing report

The Task Simulation Builder can generate a timing report for each simulation, including time estimates for
tasks and actions. Time estimates are based on Method-Time-Measurement (MTM) time standards. MTM
codes for each action are also included in the report.

Procedure

1. From the Task Simulation Builder menu, select Simulation → Analysis → Create Timing Report.
The Create Report dialog box is displayed.

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 2. Add snapshots to your report using and . For more information, refer to Snapshot Editor.
3. To view the report, do one of the following:
• Check Once created, open in the Report Viewer to open the report automatically.
• Choose Human tab → Ergonomics group → Report Viewer to open the report manually.
4. Click OK.
The system generates the report.

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 Creating a Walk Analysis report

Creating a Walk Analysis report

The Task Simulation Builder can generate a walk analysis report for the simulation. The report contain an
image to visualize the walk paths for each human model. Additionally, tasks that include walking are listed
in a summary table, identifying the distance and duration of the walk action, along with its corresponding
MTM timecode. For example:

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 Each human model is emphasized in a unique color in the Sequence Editor and the same color is used to
display that model's walk path(s).

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 Procedure

1. From the Task Simulation Builder menu, select Simulation → Analysis → Create Walk Analysis
Report.
The Create Report dialog box is displayed.

2. Add snapshots as required.

3. Optionally, change the default walk Name.
4. By default, Once created, open in the Report Viewer is set. Clear this setting if you do not wish to
view the report immediately.

5. Optionally, click and add a meaningful Description.

6. Click OK to close the dialog box and generate the report.

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EAWS report digital review tool

EAWS report digital review tool

After running the EAWS report, the system prompts you to import the results into the EAWS digital review
tool. This is a standalone tool for reviewing EAWS reports.

Note
The EAWS digital review tool requires a separate license which must be purchased from the German
MTM association.

Ergonomics metrics report

This report can only be created via the Task Simulation Builder.

Procedure

1. From the Task Simulation Builder menu, select Simulation → Analysis → Activate Ergonomic
Reports and set Ergonomics Metrics.

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 2. From the Task Simulation Builder menu, select Simulation → Analysis → Create Ergonomic
Reports.
The following dialog box appears.

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 3. In the Work Details area, you can do the following:
• Type a meaningful Job title, set the Date as required, and add Notes.
• By default, the Cycle time is set to the duration of the operation for which you are generating the
report. If you extend this time, the additional time will be considered as rest time when calculating
the report.
4. In the Report Data Customization area, you can do the following:

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 • Set Include total number of walk steps and/or Include percent time walking/standing/sitting to
include these data in the report.
• Set Include minutes spent in significant postures.
When this option is on, you can set Repetitions per shift to include in the report the number of
times the simulation is repeated in a complete work day/shift and/or Shift duration to state the
length of the shift (in minutes). This information is used to calculate the total number of minutes
spent in significant postures - postures furthest removed from neutral postures - shown in red in
the report.
• Click Posture to configure postures in the report.

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 a. In the Use column, set or clear body parts to include/exclude them from the report.
b. The default values for Mild, Moderate, and Significant body movements have been
calculated to ensure optimal ergonomic conditions. You can edit the Mild and/or Significant
values if you wish; Moderate is automatically adjusted.
c. Click OK.
• Click Strength.

◦ Indicate whether to report details for the actions listed in the dialog box.
◦ You can configure one height above which the human model is considered to be working
overhead when standing and another height when in a sitting posture.
◦ You can also configure a distance for Moderate reach and Far reach.
5. Click OK to save the changes.
The system generates the report and it opens in Excel.

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 Note
• If you receive the Macros have been disabled security warning in Microsoft Excel the first time you
create an Ergonomics Metrics report, click Enable Content.

• If you receive the Reference isn't valid message in Microsoft Excel, click OK.
• Formatting of the report is performed by the template file provided with the installation and nested at
<Installation>\eMPower\Human\ExcelReportTemplates\PDA_Template.xltm.
• The Windows Decimal symbol must be configured as a dot.

TSB Energy Expenditure Tool

Metabolic Energy Expenditure

The Metabolic Energy Expenditure (MEE) tool considers task demands and individual characteristics
(gender, anthropometry) to predict the metabolic requirements for a specified job or activity in the
Task Simulation Builder. Integrating MEE into the Task Simulation Builder (TSB) offers the ability to
evaluate the metabolic demands early in the design phase. The tool automatically estimates the number
of kilocalories expended for each action performed within the simulation, taking into consideration the
posture and exertion demands. Overall energy expenditure rate (kcal/min) is compared against industry

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Metabolic Energy Expenditure

standard, or user-specified, threshold limits to detect increased risk of fatigue. This tool can help you make
better-informed decisions about your job and workstation designs.

The total energy requirements for a simulation consider the sum of all task net metabolic costs and the
caloric requirements for maintaining body posture. There are unique energy expenditure rates associated
with sitting, standing and standing-bent (torso flexion that is greater than 30⁰) postures.

Note
The Metabolic Energy Expenditure calculates energy expenditure for specified TSB operations. This is
not to be confused with the Energy Expenditure command that calculates energy expenditure for a
custom set of actions configured manually within its dialog box.

The following table outlines the logic used to map TSB actions to energy expenditure.

TSB Action MEE Category Additional Information

Walk Walk/carry (if holding object) Slope always = 0
Reach Arm work: Lateral/horizontal is determined by
horizontal motion vector of the hand. If
General – if no object in hand or if vector>45⁰ (from lower torso proximal, X
limited arm motion. axis) lateral is used, otherwise horizontal.

Lateral/Horizontal – if arms move

>12” (standing), >8” (sitting).
Arise and Reach Lift. More than one lift equation If no object in hands, 0 is used for load
is applied if overall hand travel magnitude in lift equation.
requires use of both an arm lift and a
stoop lift.
Bend and Reach Lower. More than one lower If no object in hands, 0 is used for load
equation is applied if overall hand magnitude in lower equation.
travel requires use of both an arm
lower and a stoop lower.
Arise from Bend Lift. If no object in hands, 0 is used for load
magnitude in lift equation.
Turn Body Combined with adjacent walk
action.
Grasp Combined with preceding action.
Touch If no object in hand – Hand work
General.

If object in hand – Holding.

Release Combined with preceding action.

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 Run the TSB Metabolic Energy Expenditure Report

TSB Action MEE Category Additional Information

Pose User defined MEE category. TSB
determines category details (loads,
distances, stoop vs squat, etc).
Regrasp/Transfer Hand work general. Light if <5 lb. for one hand or <10 lb. for
both hands. Otherwise, heavy.
Wait If object in hand(s) – holding.

If no object in hand(s) – no MEE

equation applied.
Apply Force Arm work general. Light if <5 lb. for one hand or <10 lb. for
both hands. Otherwise, heavy.
Force Profile Arm work general. Light if average profile load < 5 lb. for one
hand or < 10 lb. for both hands. Otherwise,
heavy.

Run the TSB Metabolic Energy Expenditure Report

Procedure

1. Activate the Metabolic Energy Expenditure report in the Analysis Tools dialog box.
2. Right-click a TSB operation in the Object Viewer and select Operation Properties.
3. From the Simulation menu in the Properties dialog box of the selected operation, select Analysis →
Create Ergonomic Report. The Energy Expenditure dialog box appears, enabling you to configure
the report before executing it.

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 4. By default, Cycle Time is set to the duration of the TSB simulation. You can change this if necessary.
5. Set any of the following parameters:
• The Task table lists all the actions that comprise the TSB task and their Frequency within the TSB
task. You can change this if necessary.
• For Pose actions are user defined, set the Category to inform the system which type of energy
calculation to perform. For example, set Category to Lift and then set Hands to Right, Left, or
Both as required.
• For a Push or Pull action, set the Force used for the action.
• You can Set frequency on all tasks if you wish to override the current frequency settings in the
Task table and set them to a uniform number.
• By default, the Energy Expenditure Limit is set to 5 kcal/min. When you save a report, this limit
is included and can be used to compare against the calculated expenditure rate for the simulation

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 being evaluated. You can change this if necessary. Additionally, if you set Calculate Threshold, the
system automatically calculates the Energy Expenditure Limit. In this case, increasing the Hours
worked per day, decreases the limit. Adjusting the Set % time spent performing full body vs
arm work also impacts the limit, as follows: as the percentage of arm work increases, the limit is
reduced.
6. Click OK to save your changes and exit the dialog box. The Create Report dialog box appears.

Proceed as follows:
a. Enter a Name for the report.
b. Add snapshots to the report as required.
c. By default, Once created, open in Report Viewer is set. You can clear this if you wish.

d. You can click and add a report Description, if you wish.

7. Click OK.
The report opens in the Report Viewer.

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Strain index report

Strain index report

Strain index

The Strain Index is a broadly used and well recognized analysis method for assessing risk at the distal
upper extremities. It is suitable for work involving hand-intensive tasks, including actions such as small
part assembly, tool use and finger or hand presses. It recognizes the complex interaction of the following
task parameters, many of which are automatically extracted from a Task Simulation Builder simulation in
Process Simulate:

• Intensity of exertion (I)

• Efforts per minute (E)
• Duration per exertion (D)
• Duration of task per day (H)
• Hand/wrist posture (P)

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 Strain index

To compute the Strain Index, the operation is divided into tasks, a value is assigned to each of the five
variables for each task, and the Strain Index for each task is calculated based on these variables. These
Strain Indexes are calculated separately for each hand.

The Strain Index scores for all the tasks are combined and a Composite Strain Index (COSI) score is
calculated for each hand. The Composite Strain Index describes the overall impact of exertions at different
levels of force and exertion durations. This allows for the consideration of not just single activities, but
instead, an entire cycle of work with varying demands.

The Strain Index feature enables rapid identification of the most straining task activities. It also supports
full editing of input parameters, to explore how various changes impact upper extremity injury risk.
Specifically, you can:

• Quickly view the Strain Index for each task in an operation, and the Composite Strain Index for the
complete operation.
• Assess if any individual task is considered hazardous, or if the operation may be hazardous.
• Select specific tasks to exclude from the analysis.
• Override exertion level, wrist posture, and timing values.
• Provide separate assessments for the right and left hands.
• Generate a formal report of the assessment.

Index Scores

A Strain Index and Composite Strain Index score of 10 or less is considered safe.

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Strain index

A Strain Index and Composite Strain Index score higher than 10 is considered hazardous.

How the Task Simulation Builder maps task information to the Strain Index function

Task Details
Excluded by default because walking is not a hand intensive task. A Go task
can be added manually if the human model is performing hand-intensive
Go work while walking.
Included for the hand which is getting or touching the object. Added to the
left- and right-hand analyses if the task requires two hands. Walk actions are
Get/Touch excluded.
Included for the hand which is putting or positioning the object. Added to the
left- and right-hand analyses if the task requires two hands. Walk actions are
Put/Position excluded.
Included by default for both the left- and right-hand analyses, even when the
human model is not holding or using an object. These tasks can be manually
excluded if no hand-intensive activities are performed during the pose/wait
Pose/Wait time.
Regrasp and Transfer actions are grouped with the prior task because they last
Regrasp less than one second.
Stand/Sit Excluded by default because no motions are assigned to Stand or Sit tasks.
Included by default. It is assumed that the hands are always active when
Apply Force applying forces.
Included by default for both the left- and right-hand analysis because the
forces are divided between both hands. Each point is added separately to the
Use Device analysis, apart from Point 0 (always a grasp), which is combined with Point 1.

How wrist angles are extracted from the simulation

For most task types, the final wrist posture in each task represents the posture used for the Strain Index
computations. For example, if a Get task involves a bend, reach and grasp action, the wrist posture is
measured in the grasping posture. For Apply Force tasks, wrist angle is measured at the point where forces
are applied (or time of peak force when a force profile is present). The wrist angle is measured for each
point in the Use Device task.

How effort values are extracted from the simulation

On a per task basis, the percent of maximum voluntary contraction (%MVC) is computed for each degree
of freedom of the wrist joint, and the largest magnitude is used for the Strain Index computation.
However, for some tasks, it may be helpful to consider additional force details. For this reason, alternate
options for assigning an Effort value can be found when clicking Learn about %MVC in the Strain Index
dialog.

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 Calculate strain index report

References

For more details and a review of the Scientific background of this tool, refer to:

• Garg, A. et al, (2016)—Ergonomics. The Revised Strain Index: an improved upper extremity exposure
assessment model.
• Garg, A. et al, (2016)—Ergonomics. The Composite Strain Index (COSI) and Cumulative Strain Index
(CUSI): methodologies for quantifying biomechanical stressors for complex tasks and job rotation using
the Revised Strain Index.

Calculate strain index report

Procedure

1. In the Task Simulation Builder, set the active simulation, select an operation and set it as the
current operation.
2. Select a human model in the Graphic Viewer or Object Viewer.
3. From the Task Simulation Builder menu, choose Simulation → Analysis → Activate Ergonomic
Reports → Activate Ergonomic Report(s) for: <model>.
The Analysis Tools dialog box is displayed.

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 4. Set Strain Index (2016).
5. Set Simulation if you wish to generate a simulation report.
6. Click OK.
7. Choose Simulation → Analysis → Activate Ergonomic Reports → Create Ergonomic Report.
The system calculates the Strain Index and displays the complete report. If you requested multiple
reports, the system creates the reports specified in the Analysis Tools dialog box and displays each in
a separate window. The Strain Index report appears as follows:

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 8. In Hours/day, set the length of the work day.The system automatically calculates the Duty Cycle.
In the above example, the total duration of all the tasks is 8.15 seconds, so the duty cycle is
8.15/60*100 or approximately 14%. If the number of efforts per minute were 2, the duty cycle would
be 8.15*2/60*100 or approximately 27%. This represents the portion of the cycle during which the
hand is active.
9. Select Left Hand or Right Hand.

The left side of the Strain Index window displays:

• Task—The name of the component task.

• Action—A brief description of the task.
• RSI—The Strain Index calculated for the task.

Proceed as follows:

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 Procedure

1. By default, some tasks are included in the Strain Index calculation and others are omitted (as
described in Strain index). You can override these settings by checking or clearing the relevant
checkboxes in the Included column.
2. You can modify any of the following parameters by double-clicking the setting if you know a more
accurate value or if you wish to explore how various changes impact the risk of injury:
• By default, the Strain Index calculation engine sets the relevant value for Effort (%MVC). This
parameter represents the force requirements of a task. It reflects the magnitude of muscular effort
required to perform the task as a percentage of maximum strength (%MVC). Information on this
parameter is available by clicking Learn about %MVC.
• The Duration of each task is derived from the Task Simulation Builder. This is the average time
(measured in seconds) that an exertion is applied.
• The Efforts/Min for each task is derived from the Task Simulation Builder. This is defined as the
number of exertions per minute. An exertion can include holding an object or using a tool, as well
as typing, pressing controls or pushing objects.
• The Wrist Angle for each task is derived from the Task Simulation Builder.
• The Wrist Posture for each task is derived from the Task Simulation Builder. This is the flexion or
extension (degrees of deviation from anatomical neutral) when applying force. When the wrist is
neutral, the wrist angle is zero. Possible values are Neutral, Extend, and Flex.
3. You can set an identical parameter value (except for Duration) for all the tasks by double-clicking the
relevant cell in the All Tasks row at the top of the table and entering the new value.
4. You can reset the parameters to their default value by clicking Reset Right or Reset Left.

The Composite Strain Index is calculated from the Strain Index of all the participating tasks and displayed
on a green background.

Procedure

Click OK.

Utilizing the TSB Motion Library

The Task Simulation Builder (TSB) supports creating a custom motion library, which is a powerful utility for
building realistic simulations. You can record real human movements and organize them into categories
for later viewing and inclusion in a simulation. This feature can save time during simulation creation and
improves the realism of simulations by inserting motions captured from real humans.

• Create your own custom library of motions. You can record:

◦ Directly from motion capture data

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 Add custom motions to the TSB Motion Library

◦ A simulation or operation
◦ A human in Virtual Reality with body tracking
• Create a new task in Task Simulation Builder (TSB), by inserting motions from the library. When adding a
motion to your simulation, you can also choose to edit the starting point for the human and additionally
edit individual motion frames to refine the task.

Add custom motions to the TSB Motion Library

1. Open the Task Simulation Builder (TSB) and select the Manage Motion Library.

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Add custom motions to the TSB Motion Library

2. Select the human in the scene from which to record motions, and chose a Mode to set the motion as
primarily a standing or seated activity.
3. Specify a frame rate.
Typically it is easier to work with lower frame rates, since higher rates include more frames in the
motions, and subsequent editing of portions of a motion is on a per frame basis, increasing your
work.
Note
Prior to recording a motion, you can optionally enter a motion description to be saved in the library.
This description is displayed in the library and can be reviewed when you select motions for a
simulation.

4. Press Record to begin saving your motion to the library.

A three-second countdown begins, providing you enough time to start a motion playback, or to
advise a motion capture subject to begin moving.

5. When finished, press Finish to stop recording, and save the file.
A Windows browser opens by default to the Motion Library directory. You must save motions in this
directory.

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 Add custom motions to the TSB Motion Library

6. In the Save Motion Library window, assign a name to your file and click Save.

You can now see the new motions in the library.

Note
Motion Libraries can be shared between users by copying and pasting the Motion Library Directory
to and from C:\Users\*username*\AppData\Roaming\Tecnomatix\Human\MotionLibrary.

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Create a new task in TSB using the Motion Library

7. Click Delete to remove a selected motion, which you highlighted in the Library table.

8. Click Close when you have finished editing the library.

Create a new task in TSB using the Motion Library

The Task Simulation Builder (TSB) supports creating a custom motion library, which is a powerful utility for
building realistic simulations. You can record real human movements and organize them into categories
for later viewing and inclusion in a simulation.

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 Create a new task in TSB using the Motion Library

Procedure

1. In the Task Simulation Builder, go to Skills -> Motion Library.

2. From the list, choose a motion and click to preview a motion.

You can preview several motions prior to making your selection.

You can use all the preview buttons and slider to inspect the motion in more detail.

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Create a new task in TSB using the Motion Library

3. If you need to modify the start location or position of the motion, click to open the manipulator
for the human. When you are satisfied with the new start position, click to approve. If you wish to
discard your edits, click .
4. Click Next. Use the Preview slider to pause an Individual posture to make edits.

5. Click Edit Current Posture to open the Human Posturing dialog box.

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 Create a new task in TSB using the Motion Library

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Create Posture Operation

6. After updating the human posture, click to save changes or to reject them.

Note
Since there may be a number of similar postures, you may need to update several postures to
achieve the desired motion edits.

7. Click OK to add the task to your simulation.

Create Posture Operation

The Create Posture Operation option enables you to create a pose operation that moves a human model
into a specified posture.

You can save a particular posture as a pose operation at any time. This is useful when you have changed
the posture of a human model using the Man Jog option (described in Human Posturing). Saving a
posture as a pose operation enables you to move a human model into a specific posture, for example,
changing the posture of a human model to assume the exact pose used in a working environment when
performing tasks. This is especially helpful when designing the workspace for the human model, which is
intended to maximize productivity by minimizing operator fatigue and discomfort.

Procedure

1. Select the human model whose posture you want to save in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Simulate group → Create Posture Operation .

or

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 Choose Operation tab → Create Operation group → New Operation → Create Posture Operation
.
The Operation Scope dialog box is displayed.

3. Enter a name for the operation in the Name field.

4. Select the parent operation from the Scope list.
5. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer and you can
run it after setting it as the current operation.

Note
By default, all pose operations are named Pose.

You can now move a human model to the saved posture by running the pose operation.

Place Object

The Place Option option enables you to create an operation that places an object. This is done after a
human model has the required grasp posture.

Procedure

1. Select a human model with a grasp posture in the Graphic Viewer or Object Viewer.
2. Choose Human tab → Simulate group → Place Object .
The Place Object dialog box is displayed.

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 3. In Place Object, enter the object that the human model should place, or select the object in the
Graphic Viewer or Object Viewer.The Placement Manipulator is opened automatically, but you can
use Relocate instead. The name of the object is displayed.

4. Click to reposition the object or to reposition the human model.

5. From the dropdown list, select the effector(s) that will place the object. Depending on the selected
effector(s), a release event will be created at the end of the operation if you select the Release
Object at End of Operation checkbox.
6. Using Placement Manipulator or Relocate, move the object to each point in the required path, and
then click Add Object Location to add a location to the path. The human model's effector follows
interactively, enabling you to immediately view the movement.

Note
When creating the place object operation, the respective object flow operation is also generated.

7. Click the Step back button to undo the results of the last object relocation.
8. In the Human Position Adjustment area, select whether to adjust the position of the model when
the target is out of reach. Select from the following:
• Fixed: The position of the human model is not adjusted when the target is out of reach.
• Follow Object: The position of the model is adjusted automatically when the object is out of reach.

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 This functionality recognizes when the human can no longer reach the target, and moves the human
(relative to its previous position) to the object. In this case, the system creates a walk operation with
predictive stepping when creating the place object operation, and this is linked just before the place
object operation. For more information on creating walk operations, refer to Walk Creator.

9. In the Relation to Object area, select the relation between the human carrying the object to be
placed and the object itself as they move to the locations on the defined path. Select from the
following:
• Carry: The object being placed is picked up and carried.
• Follow: The object being placed is pushed ahead of the human moving it (for example, a cart).

Note
The human model now follows the object, without the need to create a Walk operation. This
setting is saved to Allow Walk Human Events.

10. If you want to create a release grasp event for the selected object, select the Release Object at End
of Operation checkbox.

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 11. Click Create Op. to create a place object operation.
The Operation Scope dialog box is displayed.

Note
By default, all place object operations are named Place Object.

12. Enter a new name for the operation in the Name field if required, and the parent operation in the
Scope field, and click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer and you can
run it after setting it as the current operation. The respective object flow operation is included in
the place object operation.

For example, if you lifted an object, moved it along the path the human had to follow, and then
placed it onto a table, a motion sequence is created, showing the different types of movement:
• Object Flow: Lifting the object
• Walk Operation: Moving the object to the destination
• Object Flow: Placing the object
Examining the operation in the Sequence Editor, you can see the red human follow the attach
event marker at the beginning of the operation and the red human follow detach event marker at
the end of the operation. These were created automatically according to the effector selected.

Note
The place object operation is not a human compound operation. The human model's effector
follows an object flow operation; the information of attaching and detaching is saved in the events.

Events may be one on top of the other in the Gantt Chart, for example, when there are two human
follow detach events at the end of an operation bar.

The Place Object dialog box remains open, enabling you to continue as follows:

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 • Click Reset to return the human model and selected object to the location and posture as when the
dialog box was opened.
• Create additional place object operations, as required.
• Click Close to close the dialog box.

Walk Creator

Walking the Human Model

The Walk Creator option enables you to create a walk operation in which a human model walks from its
current position to a specified location. The walk operations are displayed in the Object Viewer.

This frequently used motion is available as a macro, so no posture teaching is required for walking. In the
standard setting, the human model walks directly from the start position to the position of a specified
location with a straight back and swinging arms. A number of standard parameters can be modified.

You can define more than one location for a walking operation (or path) and the human model walks from
one location to the next, interpolating the way. When the human model reaches the last specified location
of a walk command, it stops and lines up along the positive X-axis of the location. This defines the target
position of the human model. Alternatively, you can select the start (the current position of the human
model) and finish locations for the walk and enable the obstacle avoidance algorithm.

The Walk Creator option also enables you to activate predictive stepping to create a realistic walk style.
This algorithm is based on research by HumoSim. You can update old walk operations created in the
past in standard linear mode by opening them in the Walk Creator and re-creating them with predictive
stepping.

Create a walk operation

You can create a walk operation to simulate human operations in the working environment.

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 Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Simulate group → Walk Creator .

A frame is displayed on the floor midway between the human model's legs (the human frame) and
the Walk Operation dialog box is displayed:

3. Select the location that you want the human to walk to in one of the following ways:
• Select target
In the Select target field, select the target location by clicking the location in the Graphic Viewer,

or by clicking the dropdown arrow next to the Target of Reference button and specifying
the exact co-ordinates of the target location in the popup Location dialog box, using the up/down
arrows or entering the values directly.

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 ◦ To flip the location (rotate the location 180° around the x-axis), click the Flip Location button

.
◦ Click OK to confirm the co-ordinates.
The human model jumps to the specified location.
• Select path
Select the path(s) that you want the human model to follow from the Graphic Viewer or Object
Viewer. If the path does not exist, you can click Path Creator and create a path. Refer to Path
Creator.
4. Select Maintain Orientation to update the position of the selected location with the last orientation
of the human model.

Note
If you modify the orientation of the human model, it does not change its orientation interactively
as long as the Maintain Orientation checkbox is selected.

5. If you want to limit the movement of the arms and torso of the human model while walking, select
the required constraints from the Fix during walking area, as follows:
• Left Arm: Keeps the left arm stationary in its current position during the walk operation.
• Right Arm: Keeps the right arm stationary in its current position during the walk operation.
• Torso: Keeps the torso in its current position during the walk operation. This is very useful, for
example, when you want the human to walk under a ladder. This constraint does not affect the
arms.

Note
• You can select to fix both arms at the same time. Fixing the position of the arms is useful, for
example, when you want the human to carry an object.
• During a walk operation, the arms of the human model usually swing back and forth and the
torso is angled slightly forward.

6. In the Step behavior area, Predictive stepping is selected by default. This creates a smooth, realistic
walk. If you wish, you can select the standard Linear walk. In the latter case, select a walk style from
the Use style area:
• Auto - Walks the human model to a specified target using the quickest and most direct path. It
is recommended to use this option, which is the default option, when there are no other forced

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 human walk directions, for example, walking through a narrow passage between shelves where
only sidesteps are possible.
The Auto command enables flexibility of setting and moving locations, for example, when moving
a table and its attached frame, the walking direction adjusts automatically to the new setting.
The following example shows the walking direction range of the human model in relation to its
radial position:
◦ For angles between 45° and 135°, the human model walks forward.
◦ For angles between 135° and 225°, or 315° and 45°, the human model walks sideways.
◦ For angles between 225° and 315°, the human model walks backwards.

• Forward - Walks the human model in a forward direction lifting both legs alternately.
• Backwards - Walks the human model in a backwards direction lifting both legs alternately.
• Sideways - Walks the human model in a sideways direction using side steps.

Note
Rotated walking is not supported — the human should stand with its head in the positive z
direction of the cell's absolute coordinate system.

7. In the Step Width field, enter the size of the step you want the human model to take, between
100mm to 900mm. By default, the step size is 850mm (the standard value according to MTM).

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 8. Check the Avoid obstacles checkbox to create an obstacle-free walking path.
9. Click Create Op.
The Operation Scope dialog box is displayed.

10. Enter a name for the operation in the Name field.

11. Select the parent operation from the Scope list.
12. Click OK.
The operation is saved and displayed in the Sequence Editor and in the Object Viewer. You can run
operations using options in the Operations Tab.

Note
• By default, all walk operations are named Walk to (name of selected location).
• Target locations and motion constraints are saved as specified in the selected human walk
operation. You can modify the human walk operation, as required.
The Walk Operation dialog box remains open, enabling you to continue as follows:
• The walk operation includes footsteps which you can blank and display like all other objects.

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 • Click Reset to return the human model to its last position.
• Create additional walk operations, as required.
• Click Close to close the dialog box.

Path Creator

The Path Creator option is a path editing tool that enables you to create paths and to define paths which
the human models should follow.

Procedure

1. In the Walk Operation dialog box, select the Select Path option, and then click Path Creator.
The Path Creator dialog box is displayed.

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 2. In the Select a Location field, select a location for the path, either in the Graphic Viewer or Object
Viewer.
The name of the selected location is displayed in the Select a Location field.

Note
You can modify the location by clicking the dropdown arrow next to the Frame of Reference

button and specifying the exact coordinates of the location using one of the four methods
available.

3. Click the Add to Path button to the right of the Select a Location field. The selected location is added
to the List of Locations in the Path list.
4. Repeat steps 2 and 3 to add additional locations to the path, as required.
5. If you want to add an existing path to the new path, click in the Select a Path field and select a path,
either in the Graphic Viewer or Object Viewer.
6. Click the Add to Path button to the right of the Select a Path field. The locations in the selected path
are added to the List of Locations in the Path list.
7. Change the order of the locations in the List of Locations in the Path list by clicking the up and
down buttons to move a selected location either forwards or backwards in the path. The path will
be created according to the order of the locations in the path. You can also delete selected locations
in the path by clicking .
8. Click OK. The path is created with the specified locations.

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Create Elevation Transition

Create Elevation Transition

The Create Elevation Transition function automatically creates a simulation of a human model
transitioning a flight of stairs or ramp. This saves tedious, manual keyframing work and produces optimal
results. The human model is also able to carry objects and/or swing its arms during the transition. If
the human model is not located at the threshold of the elevation when the command is invoked, the
system moves the model to the threshold and creates a walk operation with predictive stepping. For more
information on creating walk operations, refer to Walk Creator.

Procedure

1. Select a human model in the Graphic Viewer or Object Viewer.

2. Choose Human tab → Simulate group → Create Elevation Transition .

The Create Elevation Transition Operation dialog box is displayed.

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 The dialog box shows a preview of the simulation and includes the following:
• The elevation.
• The human model.
• The direction of the elevation - Indicated by green arrows on the risers with direction determined
by the Direction setting.
• The setup objects - For stairs, there are four setup objects: A yellow ellipse marks the point prior
to the first step in the elevation, a yellow rectangle marks the first step in the elevation, a purple
rectangle marks the last step in the elevation, and a purple ellipse marks the top of the elevation.
For a ramp, there are only the yellow and purple rectangles.

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 Note
• Picking the setup objects or human model in the preview image opens a Placement Manipulator
window for that object in the Graphic Viewer allowing you to move the object to the desired
position.
• You can quickly move the human model to the top or bottom of the elevation by pressing <Ctrl>
and clicking the relevant set up object.

3. In the Define Elevation area, set the following:

a. Select whether to simulate Stairs (this is the default setting) or a Ramp.
b. Select whether the elevation is to be an Ascend (this is the default setting) or Descend
elevation.
c. If you selected Stairs, set the number of Risers to the number of steps you wish the human
model to climb while traversing the elevation.
d. Click Show Steps to display the human model's footsteps in the Graphic Viewer.

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 4. In the Options area, configure the following:
• From Duration/Step, set the period of time for each step during the elevation simulation.
• Click the Carried object field and then select an object in the Graphic Viewer or Object Viewer for
the human model to carry during the elevation simulation.
• In Keep Current Arm Posture, select which arms should retain their current posture. If you clear
the checkbox for an arm, it swings back and forth during the elevation simulation. Check Right
and/or Left if the human model is carrying an object.
• In First Step, select whether the human model should begin the elevation with the Right Foot or
Left foot.
• In the Show area, select which items to display in the preview.

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Vision Window

5. Click Preview Motions to view the elevation simulation in the Create Elevation Transition
Operation dialog box.

Note
The system makes no changes to the database at this stage.

6. Make improvements to the elevation simulation, as necessary.

7. Click Create Op. to save the elevation simulation to the database. The new elevation transition
appears in the Object Viewer. By default, the operation name is Transition up stairs, Transition
down stairs, Transition up ramp, or Transition down ramp and you can simulate it in the Sequence
Editor like any other operation.
8. Click Close to close the dialog box.

Vision Window
The Vision Window option enables you to view the objects in the working cell through the eyes of
the human model. Eye joints can be manipulated independently, resulting in three possible perspectives:
mid-eye, left eye, and right eye.

In order to view exactly what a human model sees, choose Human tab → Analyze group → Vision

Window .

The Vision Window dialog box is displayed.

Select a perspective using the available checkboxes and click OK.

The Vision Window dialog box is displayed.

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 Grasp and Vision Envelopes

As the human model performs operations, the view in the Vision Window changes accordingly. When
you have selected Track Target in Motion Constraints (described in Human Control), a selected target is
always visible in the Vision Window.

Tip
At any time while working with the Vision Window, you can take a snapshot of the currently displayed
image and save it in the Properties. In the Mark Up Editor, you can add callouts as required and send the
snapshot by email to other engineers in your organization, for example, for consultation.

Grasp and Vision Envelopes

Choose Human tab → Analyze group → Grasp Envelope to display the maximum range within
which the human model can perform grasp and reach operations in the Graphic Viewer.

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 Choose Human tab → Analyze group → Vision Envelope to display a representation of the human
model field of view in the Graphic Viewer.

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 Toggle wither button to hide these options.

The Envelope Setup option enables you to define how to graphically display the vision and grasp range
of human models. This action, which is typically done once, is performed by defining vision and grasp
envelopes that can be toggled on and off in the Graphic Viewer as needed. Each model can have a
different envelope definition.

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 Procedure

1. To define envelopes, select a human model in the Graphic Viewer.

2. Choose Human tab → Analyze group → Envelope Setup.
The Envelope Setup dialog box appears.

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 3. In the Grasp Envelope area, set the following parameters for each hand.
a. Set Active for the hand(s) you wish to participate in the grasp envelope calculation and clear
this parameter for the hand you wish to omit.
b. Select a site from the Site to trace list of commonly used sites to specify the exact location on
the model to serve as the starting point for the grasp envelope (for example, palmcenter).
The site location is displayed in a frame within the Graphic Viewer.
c. Select Include waist rotation and set the Flex and Lateral sliders to specify the influence of
waist rotation on the envelope.
4. In the Resolution field, enter a number between 1 and 16 to specify the resolution of the envelope. A
higher envelope resolution results in a smoother envelope.
5. In the Vision Envelope area, configure the following options:
• Length (mm): Determines the length of the vision envelope, in millimeter.
• Angle (deg): Determines the angle of visibility, in degrees.
6. Set or clear Visible for both envelopes to display or hide the envelopes. If the Envelope Setup dialog

box is not open, you can toggle the grasp envelope on and off by clicking and the vision

envelope by clicking .

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Create Human Swept Volumes

7. Click Close to exit he Envelope Setup dialog box.

Note
You can click Reset to restore the previous envelope definitions.

Create Human Swept Volumes

A human swept volume is the entire 3D space through which a human model passes during the course of
a specified TSB simulation. You can use it to examine safety considerations or plan processes.

Procedure

1. Pick a TSB operation in the Object Viewer.

2. Choose Human tab → Analyze group → Human Swept Volume.

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 The Simulation name and Simulation time are automatically populated.
3. Set the desired Sample Frequency. Higher frequencies create more accurate swept volumes which
take longer to generate and are larger to store. Consider using a low setting for initial testing and a
higher setting for the final analysis.
4. Set Volume Type to one or both of the following:
• Figure—Creates the swept volume for the entire human model, including its head, torso, hand,
arms, and legs of the human model.
• Reach—Creates the swept volume for the entire reach envelope of the human model.
The system generates separate swept volumes for Figure and Reach.
5. In Teamcenter Scope, set the parent under which to store the swept volume dataset.

6. Optionally, click to access the Object Swept Volume command if you wish to create swept
volumes for a part or resource in addition to the human swept volume.
7. Click Create.
The system creates the swept volume(s), and nests them in the Resources folder in the Object
Viewer.

Note
Creating a human swept volume takes a long time. You can abort the action if necessary by clicking
Cancel or pressing the Esc key.

You can elect to view specified body parts, for example, just the torso.

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Work zones

8. Click Close to exit the Create Human Swept Volumes dialog box.

Work zones

You can add Work Zones to a study to quickly visualize if workstation designs adhere to ergonomic
guidelines. The zones are fully customizable and allow rapid validation that tasks can be performed
without extreme reaches. The Work Zones command allows you to configure geometric zones,
representing preferred and less preferred volumes in which human models perform tasks. These zones also
allow non-expert users to conduct ergonomic screening of workstation designs, as the reach guidelines are
captured within the zone.

Note
After creating a work zone and closing the dialog box, it is not possible to modify its parameters. If
necessary, delete the work zone and create a new one.

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 Procedure

1. Choose Human tab → Analyze group → Work zones .

The command creates three boxes: The Primary box is shown in green; it is preferable to perform
work actions within this space. The Secondary box is orange; you can plan work actions within this
space if necessary. The Tertiary box is red; it is preferable plan work actions that do not require this
space. Additionally, the command creates footprints on which you can place the human model when
using the work zone.
2. Specify a compound resource under which to nest the work zones.
3. Configure the sizes of the work zone boxes, as follows:
• Vertical—Set the vertical minimum and maximum dimensions for the primary and secondary work
zones. Set the checkbox of each dimension you wish to display.

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 • Horizontal—Set the horizontal minimum and maximum dimensions for the primary and
secondary work zones. Set the checkbox of each dimension you wish to display.

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 • Lateral—Set the lateral dimension of the primary and secondary work zones. The value you set
extends both to the right and the left and is therefore shown as twice the length you set. Set the
checkbox of each dimension you wish to display.

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 • The Tertiary work zone box is displayed as a cube extending from the end of the Secondary work
zone. You can set its maximum dimensions.

4. In the Location area, place the work zone at a work station or by a human model, as follows:

• Click the Move to field and pick a target object or click and use the Placement Manipulator
command. By default, Maintain Orientation is set. Clear this if you wish to modify the work zone
orientation.
Or
In Snap to human, pick a human model and select a body part with which to align the work zones.

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 5. In the Display area, select which boxes to display and whether to display footprints.

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 You can also specify colors for each zone.

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 Ergonomic analysis tools

6. Optionally, perform any of the following:

• Display a useful work zone, click Add, and give a meaningful name to the work zone. The name of
the work zone is displayed in the Library list.

• Select a work zone in the Library list and click Apply to display the selected work zone.
• Select a work zone in the Library list and click Delete if you wish to delete it.
7. You can click Create New Work Zone to create an additional work zone.
8. Click OK to exit the Work zones dialog box.

Ergonomic analysis tools

The Analysis Tools option enables you to analyze postures and operations using a large selection of
ergonomic analysis tools. These are listed in the Analysis Tools dialog box by category. You can collapse
and expand these categories to view tools of interest and hide other tools.

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Ergonomic analysis tools

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 Ergonomic analysis tools

Posture reports Low Back Demands

• Posture Monitor—Enables you to monitor the • Static Strength Prediction—Enables you to

angles of various body limbs. evaluate the percentage of the worker
population that has the strength to perform the
• Ergonomics Metrics
task based on posture, exertion requirements,
• RULA—Enables you to evaluate if intervention is and anthropometry.
needed to reduce the risk of injury resulting from
• Low Back Analysis—Enables you to analyze the
physical loading for manual tasks.
spinal forces acting on the lower back of the
• OWAS—Enables you to analyze a single human human model under any loading and posturing
body posture or a sequence of human body conditions.
postures in an operation according to predefined
• NIOSH—Enables you to analyze manual lifting
joint values.
activities.
• User Defined—Enables you to build up to four
• Cumulative Loading Analysis—Enables you to
custom ergonomic reports using the Ergonomic
consider the impact of task demands performed
Reports Tab of the Human Options dialog box.
over an entire work shift.

Strength and Force exerions

Fatigue/Energy Demands

• Static Strength Prediction—Enables you to

• Fatigue—Enables you to assess whether enough
evaluate the percentage of the population that
recovery time is available for a given job cycle to
has the strength to perform this task.
avoid worker fatigue.
• Force Solver—Enables you to analyze manual
• Energy Expenditure—Enables you to estimate
lifting activities by increasing the load until the
the task demands and individual characteristics
human model no longer has the strength to
(gender, anthropometry) to predict the
maintain the load.
metabolic requirements for the activity. This tool
• Arm Strength Evaluation—Enables you to only operates on TSB simulations.
calculate the maximum force that the human
• Energy Expenditure (Manual)—Enables you
model can exert with its arms when holding
to generate a report on metabolic energy
objects.
expenditure of a job cycle composed of
multiple tasks to be compiled manually. The
Had Intensive Tasks system compares the results with statistical data
compiled by Garg, enabling you to identify
• Strain Index—Enables you to assess the risk strenuous tasks and adjust the workflow as
at the distal upper extremities. This tool only required.
operates on TSB simulations.
• Force Solver—Enables you to analyze the Multi Factor
maximum load that the human model can
handle in a particular posture. • Ergonomic Metrics
• EAWS—Enables you to assess the risk to workers
from biomechanical overload.

Timing

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Run ergonomic analysis

• Walk Analysis—Enables you to generate a

walk analysis report for the simulation with
an image to visualize the walk paths for each
human model. This tool only operates on TSB
simulations.
• Timing Report—Enables you to create a timing
report for the operation.

Note
Some tools are duplicated under different analysis categories. You can activate them via any of their
instances.

Dynamic and Static Reports

After you specify a human model and select a human simulation, the selected tools run and create
Dynamic Reports describing the ergonomics of the human model during the operation. If a human model
is selected but no simulation specified, the selected tools create Static Reports describing the ergonomic
state of the model in its current state.

Note
The correct use of all these analysis tools requires a qualified planner. Incorrect use or evaluation of
these methods can lead to inaccurate measurements in the workplace.

Run ergonomic analysis

Procedure

1. Choose Human tab → Ergonomics group → Analysis Tools .

The Analysis Tools dialog box is displayed.

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 2. Pick a Human model.
3. Select a Simulation to run a dynamic report.

Note
If you do not select a simulation, the system creates a static report.

4. Activate the analyses you want to run by checking them in the left hand column.
5. (Optional) For the RULA, OWAS, Generic, Static Strength Prediction, and Lower Back analysis
analysis tools, set Notes. In this case, a dynamic tooltip is displayed in the Graphic Viewer with a very
short ergonomic summary.

Note
You do not have to activate the analysis tool to turn on its note.

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 This summary is dynamically updated as the model moves. If the posture of a body part requires
corrective action, it is colored accordingly in the Graphic Viewer. Each human model can have a
different setting.
6. The system calculates actions and timings for the activated analyses and opens the Create Report
dialog box.

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 Note
For the Force Solver, EAWS, Arm Strength Analysis, and Energy Expenditure Manual analysis
tools, the system opens an additional window enabling you to set some of the relevant parameters.

a. Modify the default name for the report as required.

b. Add Snapshots to the report as appropriate.

• Display the Graphic Viewer as required and click to add a snapshot of the scene.

• Select a snapshot in the snapshots list and click to load the selected snapshot in the
Markup Editor. Modify the snapshot as required and save it.
• To include a snapshot in the report, select it in the Snapshots list.

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Posture monitor

• To remove a snapshot in the report, clear it in the Snapshots list.

c. Write a meaningful Description of the report.
d. (Optional) Select Once created, open in the Report Viewer.
7. Click Analyze.
The system generates the active reports and stores them under the Profiles folder of the current user.
If you set Once created, open in the Report Viewer, the report opens automatically in the Report
Viewer.

Note
If you did not set this option you can run the Report Viewer manually.

Posture monitor

The Posture Monitor tracks the posture values for the limbs of the specified human model.

1. Activate the report as described in Ergonomic Analysis Tools.

The Posture Monitor dialog box is displayed.

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 Posture monitor

2. You can observe which limbs are not stressed (green), which are under moderate stress (yellow), and
which are under extreme stress (red). Values for limbs not currently tracked are shown with a gray
background.

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Posture monitor

3. You can set Show highlighting on the figure for extra clarity. As the posture of the human model
changes, the highlighting updates in real-time.

4. To configure values for stress and extreme stress, click the Joint Angle Thresholds tab.

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 RULA Analysis

Note
These thresholds can be enforced by company standards from a configuration file.

5. You can retain the default values or modify them as desired.

6. You can clear the checkbox for any item not currently of interest.
7. Click OK.

RULA Analysis

Activating RULA Analysis

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 The Rapid Upper Limb Assessment (RULA) tool helps you evaluate if intervention is needed to reduce the
risk of injury resulting from physical loading. For manual tasks, RULA:

• Assesses the risk of upper limb injury based on posture, muscle use, the weight of loads, task duration,
and frequency.
• Assigns a score to the evaluated task that indicates the degree of intervention required to reduce injury
risk.

RULA can be used to:

• Quickly assess a manual task for its potential to expose workers to the risk of upper limb injury.
• Design new manual tasks or guide the redesign of existing tasks.
• Identify and prioritize the manual tasks that need the most urgent attention for ergonomic
modifications.

RULA uses a coding system to indicate the need for task modification in order to reduce injury risk. A RULA
score is based on the posture, force and muscle use for a specific task. The system assigns a score to the
posture for each major body part (neck, trunk, arms, wrists, and legs) along with the load and repetition
of the task. Together, these parameters offer a 'Grand Score' which is associated with an Action Level. Each
Action Level includes recommendations on how to proceed with the next steps.

RULA is based on the research of McAtamney, L. and Corlett, E.N. "RULA: a survey method for the
investigation of work-related upper limb disorders," Applied Ergonomics, Vol. 24 (2). 1993.

Process Simulate automatically extracts the postural requirements of a task from the model and enters
them to RULA. It automatically applies forces existing in your scene within RULA, but you can modify
them.

You can also generate a report file of the results of the RULA analysis.

Procedure

1. Activate the report as described in Ergonomic Analysis Tools.

2. When the Edit Report Name dialog box appears.

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 Output for RULA Analysis

Specify task-related information about muscle use, force parameters, and joint positions in the Task
Information pane.
3. Click OK.

Output for RULA Analysis

The following is a sample excerpt from a RULA Analysis in Static Mode Report:

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Output for RULA Analysis

A similar section is presented for each body part and the forces exerted on it.

The final RULA score appears at the bottom of the report.

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 Output for RULA Analysis

RULA uses a scoring system based on posture, muscle use, and force to assign an intervention action
level to the evaluated task. The four action levels are provided below along with the corresponding
recommendation:

• Level 1:
◦ Score = 1 or 2
◦ Acceptable posture if not maintained or repeated for long periods.
• Level 2:
◦ Score = 3 or 4
◦ Further investigation needed, may require changes.
• Level 3:
◦ Score = 5 or 6
◦ Investigation, changes required soon.
• Level 4:
◦ Score = 7
◦ Investigation, changes required immediately.

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OWAS Analysis

You can use the results of a RULA analysis to design a manual task for minimal risk of upper limb injury.
In addition to assigning an intervention action level to a task, the RULA report breaks down the scores
attributed to each major body part including the upper arm, lower arm, wrist, neck, trunk and legs. The
magnitude of these individual scores can help identify particular aspects of a task that are in the greatest
need of modification.

Note
RULA provides guidelines to draw attention to activities with high risk of upper limb injury. It does not
provide quantitative data on the extent of injury risk or strain on the upper limbs.

OWAS Analysis

OWAS Analysis

The OWAS Analysis option enables you to analyze operations according to predefined joint values. The
Owako Working-posture Analyzing System (OWAS) is a quantitative method for analyzing standard body
postures during a work process and determines whether any given position is reasonable and comfortable.

The static forces applied to a worker's body mainly affect the muscular system where they cause local
strains. A qualitative and quantitative recording of the work process affecting a worker's posture can serve
as the basis for evaluating body strain.

Postures of the back, the arms, the legs, the head as well as the assigned weight are divided into special
OWAS work-posture-coded sections. OWAS evaluates the interplay of the different sections and defines
five stress categories, which indicate the urgency of the necessary corrective measures for the examined
posture.

When you run the simulation in the Graphic Viewer, you can easily evaluate the different human postures
according to the OWAS method. A note with the relevant OWAS work-posture code can be displayed in the
Graphic Viewer next to the human model (refer to Ergonomic Analysis Tools), while color-coded parts of
the human model's body indicate which areas of the body suffer harmful effects on the muscular system.

Note
This method does not evaluate the physical condition, age or gender of the test person.

OWAS posture coding

The OWAS method classifies the work postures of the back, the arms, the legs, the head, and the use of
strength. Each OWAS item has its own number code which, when combined with the other four number
codes, creates a five-digit posture code, such as 2321-1. This number can be displayed in the note next to
the human in the Graphic Viewer.

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 OWAS posture coding

Each OWAS item has a number of alternative postures, as follows:

Head: 5 alternative postures

Legs: 10 alternative postures

Arms: 3 alternative postures

Back: 4 alternative postures

The need for strength is classified by a 3-class scale.

You can view a description of each posture by moving the mouse cursor over the required posture. For
example, posture 1 for the back is straight, as shown below.

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OWAS action categories

The following is an example of an OWAS posture coding:

The above OWAS posture code 2321-1 is translated as follows:

• Back: The first digit of the code, where 2 means that the back is in a bent posture.
• Arms: The second digit of the code, where 3 means that both arms are at or above shoulder level.
• Legs: The third digit of the code, where 2 means the human model is standing straight on both legs.
• Weight: The fourth digit of the code, where 1 means that the weight is less than or equal to 10kg.
• Head: The fifth and final digit of the code, where 1 means that the head is in a free posture.

OWAS action categories

The OWAS action categories, which are created by combining the different OWAS items, are calculated
automatically and indicate the urgency of the necessary corrective measures.

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 There are four action categories, as follows:

• Category 1: Normal and natural body posture. The postural load on the muscular system is optimal or
acceptable. There is no need for corrective measures.
• Category 2: The body posture may have harmful effects on the muscular system. The amount of
postural load is almost acceptable. No immediate corrective measures are needed, but they may be
necessary in the near future.
• Category 3: The body posture has harmful effects on the muscular system. The amount of postural load
is high. Corrective measures must be performed as soon as possible.
• Category 4: The body posture has very harmful effects on the muscular system. The postural load is
very high. Corrective measures must be performed immediately.

If the posture is Not classified, this means that OWAS has not defined the posture or that it does not
belong to one of the other categories.

The human model's body parts are color-coded according to the respective category. In the example
above, the human model's torso is yellow. This means that no immediate corrective measures are needed
but they may be necessary in the near future.

The following figure shows an example of an OWAS report.

If the position of a body part requires corrective action, it is colored in the Graphic Viewer.

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 In the above example, the torso is colored yellow indicating that, according to OWAS, its position will
require changing in the near future.

Note
You can select to display the results of the OWAS analysis in notes or create a report (refer to Ergonomic
Analysis Tools).

If you selected to display notes, the number in the note provides a posture code of the OWAS analysis,
useful for reporting ergonomics problems. Clicking the button expands the Human: OWAS Categories
dialog box providing an explanation of the OWAS posture code.

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 The OWAS number 2321-1 indicates the following:

• Back: Bent
• Arms: Both arms at or above shoulder level
• Legs: Standing on both straight legs
• Weight: Less than 10kg
• Head: Free

Static Strength Prediction Analysis

Activating Static Strength Prediction Analysis

The Static Strength Prediction Analysis option enables you to evaluate the percentage of the worker
population that has the strength to perform a task based on posture, exertion requirements, and
anthropometry.

The Static Strength Prediction tool:

• Aids in analyzing material handling tasks involving lifts, lowers, pushes, and pulls requiring complex
hand forces, torso twists, and bends.
• Predicts the percentage of men and women who have the static strength to perform the prescribed job.
• Provides the angles required for the elbow, shoulder, humeral rotation, hip, knee, and angle, as well as
trunk angles for flexion, rotation, and lateral bending.
• Provides the required torque on the trunk and limbs as well as the muscle effect, population strength
means, and standard deviations.

This can be used to determine whether all workers have the strength to perform a particular task and to
identify tasks where the strength requirements exceed the capabilities of a worker population.

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Activating Static Strength Prediction Analysis

Note
The SSP analysis works best for analyzing low speed material handling tasks, as the acceleration and
momentum are not figured in the calculations.

The SSP analysis analyzes the current posture of the model and generates results for eleven body areas
including the individual joint information for the following:

• Right Elbow
• Right Shoulder Abduction
• Right Shoulder fwd/bwd
• Right Humeral Rotation
• Right Hip Flexion
• Right Knee Flexion
• Right Ankle Flexion
• Left Elbow
• Left Shoulder Abduction
• Left Shoulder fwd/bwd
• Left Humeral Rotation
• Left Hip Flexion
• Left Knee Flexion
• Left Ankle Flexion
• Trunk Flexion
• Trunk Lateral
• Trunk Rotation

The data presented includes:

• Joint Angles (Degrees)

• Joint Torques (Nm)
• Mean Strength (Nm)
• Percent Capable (%)
• Standard Strength Deviation (Nm)

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 Output for Static Strength Prediction Analysis in Note Mode

Output for Static Strength Prediction Analysis in Note Mode

The SSP analysis reports on identified stresses that can be managed by a percentage of the population.

When the SSP analysis does not identify a stress below the threshold value, the note displays:

When the SSP analysis does not identify that the Percent Capable value for any body area is below 99%
for male models or below 75% for female models, the body area with the lowest Percent Capable value is
displayed in a note. The following is an example

Output for Static Strength Prediction Analysis in Simulation Mode

When the SSP Analysis Simulation Mode is activated and a simulation finishes, the following is displayed:

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 Procedure

1. Enter a name for the report in the Report Name field. By default all SSP analysis reports are named
STATSTRENGTHReport.
2. Enter a description for the report in the Description field.
3. You can filter the data to include only body parts below specified thresholds by entering threshold
percentages for each body part.
4. Click OK. The report is generated and saved locally on your hard disk.

The following is a sample excerpt from a Static Strength Analysis in Simulation Mode Report:

Output for Static Strength Prediction Analysis in Static Mode

The following is an example of an SSP Analysis Static report.

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 Output for Static Strength Prediction Analysis in Static Mode

If you wish to save the report in CSV format, click Save As.

When prompted, select a path and file name, set Save as type to .csv, and click Save.

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Force solver

This report format provides details for each frame in the simulation. You can use this to generate custom
ergonomic reports or to investigate the simulation in greater detail.

Force solver

The Force Solver option enables you to analyze the maximum load that a human model can handle in a
particular posture. You can specify the posture and all input parameters. The analysis adds to the load until
it can no longer be managed.

You can also specify the center of gravity for the load. This is useful for bulky loads, where the center of
gravity is not located near the hands of the human holding the load.

In addition, you can set the frequency and exertion duration for tasks. Joint Strength data are based on
the University of Michigan's strength models of maximum voluntary exertions (MVCs). Hand Strength data
was compiled from a multi-source analysis of the literature, and includes references such as Peebles and
Norris, 2003. The scientific details for task frequency and duration compensations can be found in: Potvin,
J.R. (2007) Correcting strength data to estimate maximum acceptable forces for repetitive tasks.
Association of Canadian Ergonomists Conference, Toronto, Ontario.

Perform a Force Solver analysis

Procedure

1. Activate the report as described in Ergonomic Analysis Tools.

The Force Solver dialog box is displayed.

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 2. In the Forces section:
a. Select the hands with which the load will be held.
b. Select a site on which the load is located. The following sites are available:
• palm.palmcenter
• finger12.tip
• finger02.tip
• finger02.base0
• thumb2.tip
• palm.offset (Selecting this option enables the modify site location button.)
c. Configure the magnitude and direction of the load for each hand.
3. The Hand Strength area enables you to analyze hand-intensive tasks by setting the following for Left
hand and/or Right hand.

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 a. Set Grip Type to Chuck Pinch, Key Pinch, Power Grip, or Ring Pull.
b. Set the Grip Aperture in millimeters. This is the size of the opening of the hand or fingers.
c. Clear Reduced in the Grip Friction row for objects with optimal grip surfaces (high friction) that
are easy to grasp, such as rubber or items with a rough surface. Set Reduced for objects with
non-ideal grip surfaces such as paper or aluminum, and other smooth or slippery items. When
the surface is less optimal, the hand cannot exert as much force on the object
4. Specify the time and Frequency parameters:
a. Set Use Frequency/Duration Compensation if you wish to compensate for frequency and
duration.
b. Set Duration to one of the following:
• <0.2 sec
• 0.2 to 0.6 sec
• 0.6 to 0.9 sec
• >= 1 sec (selecting this option automatically deactivates frequency/duration compensation)
5. In the Support section:
a. From the Force distribution strategy dropdown list, select the posture in which the human
supports the load. Available options include:
• TwoFeet: The model is standing on both feet.
• RightFoot: The model is standing on the right foot only.
• LeftFoot: The model is standing on the left foot only.
• Sitting: The model is seated with the feet supported.
• Sitting, No Feet: The model is seated with the feet unsupported. For example, the legs are
dangling.
b. Optionally, select a Supporting hand.
c. Optionally, select an External support.
6. Select the joints to participate in the analysis by setting or clearing their Use checkboxes in the
Ergonomic analysis list.
7. Click Solve.
The analysis runs and it ends when one of the following occurs:
• A selected joint is below the capability threshold.
• Incrementing the load by 1N will cause the capability threshold from being passed. This occurs
when the joint's capability is slightly above the threshold value.
• Any of the Low Back thresholds defined in the Options dialog box are passed.
• The applied load reaches the maximum defined in the Options dialog box.
The results are displayed in the Ergonomic Analysis section.

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 Configure Force Solver analysis options

You can sort the results by double-clicking any column header or clicking the Sort By Joint or Sort
By Side buttons.

Configure Force Solver analysis options

Procedure

1. Click Options.
The Options dialog box is displayed.

2. Select the Angle convention for the analysis.

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Arm Strength Evaluation (Arm Force Field)

3. Select the Percent capable threshold.

4. Configure the Lower Back thresholds.
5. In the Solve area, set the following:
• In Joints to exclude, specify lower limb joints to exclude if they are not relevant to your analysis.

This helps to ensure your results are task-specific.

• Specify the Force Solver Solve range in Newtons.
6. Click Apply. The Force Solver options are saved.

Arm Strength Evaluation (Arm Force Field)

The Arm Strength Evaluation (Arm Force Field) tool calculates the maximum force that a specified
human model can exert with its arm(s) when holding objects (or when any other force is acting on its
hands).

Note
The tool takes into account the direction of the force acting on the hands of the human model, but not
its magnitude.

The Arm Strength Evaluation tool enables you to do all of the following:

• Calculate the maximum hand exertion capability in any direction.

• Calculate the percentage of the population who are capable of a particular exertion scenario.
• Consider exertion frequency and duration when computing the maximum capability.

Procedure

1. Select a human model and adjust its posture to that of the task you are evaluating.

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 2. Choose Human tab → Ergonomics group → Analysis Tools and select Arm Strength Evaluation

.
The Arm Strength Evaluation (Arm Force Field) dialog box is displayed.

3. Set loads for the right and/or left hands (Right palm center and/or Left palm center sites, as
described in Assign Weight to Objects).

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 Note
If you configure a force, Arm Strength Evaluation performs calculations according to the direction
of the force. If you configure a weight, the direction is directly downwards.

4. In the Arm Strength Evaluation (Arm Force Field) dialog box, Percent capable is set by default to
75%.
This means that the system calculates a result that at least 75% of the population is able to perform.
Modify this parameter if you wish.

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 Note
If you selected a male model, 75% means 75% of the male population; and similarly for a female
model.

Current load displays the forces you have applied to the human model's hands.
5. Click Evaluate.

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 In the Arm strength for this scenario is area, the dialog box displays the forces that the Right and
Left arms are able to exert, taking into account the forces exerted by the Current load.
It also displays the Percent capable, which is the percentage of the population able to perform this
action.
6. Make adjustments to the posture, hand loads/forces, or input fields and click Update Results (after
the initial calculation, the button is called Update Results). The dialog box recalculates the maximum
force that the human model is able to exert and displays the updated results.

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 7. Optionally, the Compute maximum acceptable force (MAF) area enables you to calculate the
maximum force the human model can exert on consecutive occasions. Set Compute MAF based on
effort frequency and duration, configure Frequency and Duration, and click Update Results.
The results are displayed in the Maximum acceptable force area.

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 Note
You can also set Compute MAF based on effort frequency and duration during the initial
calculation.

References:

• LaDelfa N. and Potvin J., The Arm Force Field method to predict manual arm strength based on only
hand location and force prediction, Applied Ergonomics, 2017, 59, 410-421.
• Potvin, J., Predicting Maximum Acceptable Efforts for Repetitive Tasks: An Equation Based on Duty Cycle,
Human Factors, 2012, Vol 54, No. 2, 175-188.

Low Back Analysis

Activating Low Back Analysis

The Low Back Analysis option helps you to evaluate the spinal forces acting on the figure's lower back,
under any posture and loading condition.

The Low Back Analysis tool enables you to:

• Determine whether newly defined or existing workplace tasks conform to NIOSH guidelines or expose
workers to an increased risk of low back injuries.
• Evaluate jobs in real-time, flagging the exact moments when the compression forces on a worker's lower
back exceed NIOSH recommended force limits.
• Prioritize manual tasks that need the most immediate attention for ergonomic modifications.
• Run “what-if” scenarios to modify tasks by varying parameters that influence low-back spinal forces,
posture, and loading conditions.

The Low Back Compression Analysis tool provides the following information both in report and graph
form:

• Compression and shear forces at the L4/L5 vertebral disc, and how the compression forces compare to
NIOSH recommended and permissible force limits.
• Sagittal, lateral, and axial spinal reaction moments (torques) at the L4/L5 disc, representing the effect of
upper body object weights and other applied forces.
• Torso muscle group activity levels required to balance the spinal moments, including the activity of the
erector spinae, latissimus dorsi, external and internal obliques, and the rectus abdomini.

The results of a Low Back Compression Analysis can be used to design or modify manual tasks to
minimize the risk of low back injuries and conform to governmental (NIOSH) guidelines. The tool can

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 Output for Low Back Analysis in Note Mode

also pinpoint the exact moments of a lift when the compression forces on a worker's L4/L5 vertebral disc
exceed NIOSH force limits.

The LBA tool analyzes the current posture of the model and generates the following comprehensive
results:

• Lower Back Forces (N)

◦ Compression
◦ Shear
◦ Lateral Shear
• Lower Back Moments (N)
◦ Compression
◦ Shear
◦ Lateral Shear
• Muscle Tensions
◦ Right erector spine
◦ Left erector spine
◦ Right Latissimus Dorsi
◦ Left Latissimus Dorsi
◦ Right External Oblique
◦ Left External Oblique
◦ Right Internal Oblique
◦ Left Internal Oblique
◦ Right Rectus Abdominus
◦ Left Rectus Abdominus

Output for Low Back Analysis in Note Mode

The LBA analysis reports on the ergonomic safety of the current posture.

When the LBA analysis determines that the current posture is ergonomically safe (sane), the note displays

When the LBA analysis determines that the lower back compression exceeds the safe limit of 3400
Newtons, a note displays a warning with the lower back compression. The following is an example:

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Output for Low Back Analysis in Simulation Mode

Output for Low Back Analysis in Simulation Mode

When the LBA Simulation Mode is activated and a simulation finishes, the following is displayed:

1. Enter a name for the report in the Report Name field.

By default all LBA analysis reports are named LOWBACKReport.
2. Enter a description for the report in the Description field.
3. You can filter the data to include only the selected information in the report by selecting the forces,
moments, and muscle tensions to include.
4. Click OK.
The report is generated and saved locally on your hard disk.

The following is a sample excerpt from a Low Back Analysis in Simulation Mode Report:

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 Output for Low Back Analysis in Static Mode

Output for Low Back Analysis in Static Mode

The following is a sample excerpt from a Low Back Analysis in Static Mode Report:

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 If you wish to save the report in CSV format, click Save As.

When prompted, select a path and file name, set Save as type to .csv, and click Save.

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 NIOSH Analysis

This report format provides details for each frame in the simulation. You can use this to generate custom
ergonomic reports or to investigate the simulation in greater detail.

NIOSH Analysis

Manual Lifting NIOSH Analysis

The NIOSH Analysis option enables you to analyze manual lifting activities. The National Institute for
Occupational Safety and Health (NIOSH) is a U.S. federal agency that conducts research and makes
recommendations for the prevention of work-related disease and injury.

The NIOSH 81 analysis and the NIOSH 91 analysis are methods that analyze manual lifting activities, which
are one of the main causes of work-related low back pain and disability. Process Simulate implements both
methods. (The NIOSH 91 method is a revised NIOSH lifting equation that replaces the earlier NIOSH 81
version.)

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Input Parameters for NIOSH Analysis

The NIOSH analysis mainly evaluates the worker's posture at the lift start and at the lift end of a two-
handed lifting task. Walking, apart from two small side steps that may be taken by the worker in between
the lifts, is not considered in the NIOSH analysis.

Input Parameters for NIOSH Analysis

The NIOSH analysis contains the following input parameters:

• The worker's posture at the origin and destination of the lift.

• The worker's hand-to-object coupling, such as the grip quality.
• The lift frequency and the duration of the specified action.
• Whether significant control at the destination is required or not. For example, if control is required,
when placing a load at a destination, then an accurate calculation at the destination of the lift is also
required.

Output Parameters for NIOSH Analysis

The NIOSH 81 analysis contains the following output parameters:

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 NIOSH Events

• Action limit: A weight value that is permissible for 75% of all female workers and 99% of all male
workers.
• Maximum permissible limit: A weight value that is permissible for only 1% of all female workers and
25% of all male workers.

The NIOSH 91 analysis includes the following additional parameters;

• RWL: Recommended Weight Limit. The RWL is determined for the lift start at the origin of the object
and often for the lift finish at the destination of the object. The RWL is the load that nearly all healthy
workers can perform over a substantial period of time for a specific set of task conditions. The RWL for
lifting tasks that require significant control at the destination is calculated at both the origin and the
destination of the lift. The lower RWL should be used to compute the LI for the task, since this value
would represent the limited set of conditions.
• LI: Lifting Index. The LI is calculated by dividing the current load by the RWL. A LI value greater than one
indicates that the lifting task is hazardous for some of the population. The LI is the approximate value of
the relative level of strain.

In contrast to the NIOSH 81 version, the NIOSH 91 analysis can calculate the effects of asymmetric
postures in lifting actions.

In addition to calculating one single lifting action, the NIOSH 91 multi-task analysis can also calculate
numerous lifting actions, compiling the data into a compounded lifting index (CLI).

NIOSH Events

In order to perform a NIOSH analysis, you must first create the required operations so that a basis is
established on which the respective events can be added.

You can apply the NIOSH method to either a human compound operation or a larger sequence of
operations by setting the required operation as the current operation, as described in Set Current
Operation. If you have not done this already, the first step of a NIOSH analysis is to build up the required
simulation with one or more lift tasks.

If the correct succession of start and end events has been observed, the analysis will start at the first
NIOSH start event and end at the last NIOSH end event within the currently set operation. The CLI is
calculated within a multi-task analysis, when there is more than one lift task in the selected operation.

The following is an example of a NIOSH analysis as it appears in the Gantt Chart:

You can set, modify and delete NIOSH events.

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 Procedure

1. To analyze a lifting operation, create the required list simulation.

2. Set the required NIOSH start and end events. Refer to Setting Human NIOSH Start Events and
Setting Human NIOSH End Events.
3. Select a human model in the Graphic Viewer or Object Viewer.
4. Activate the report as described in Ergonomic Analysis Tools.
5. When the Create Report dialog box appears, specify the required settings and click OK.
6. Run the lift simulation.
The NIOSH analysis report starts its recordings at the first NIOSH start event and stops at the last
NIOSH end event. If you selected to display notes, the results of the ergonomic analysis are displayed
during the run of the simulation. The RWL and LI are shown in the Graphic Viewer at the time the
NIOSH end event occurs, as follows:

If you selected to generate a report, a report file is generated at the end of the simulation.

Set Human NIOSH Start Events

In order to perform a NIOSH analysis, you must specify a human NIOSH start event at the lift start. The
NIOSH analysis evaluates a worker's posture at the lift start and at the lift end of a two-handed lifting task.

Procedure

1. Right-click the required operation in the Gantt Chart and select Human Event. The New Human
Event dialog box with the name of the selected operation is displayed.
2. Select the Ergonomics tab to display the following:

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Set Human NIOSH End Events

3. If the name of the human model whose posture you want to analyze is not displayed, click in the
Human Model field and select the human model from the dropdown list, the Graphic Viewer, or the
Object Viewer.
4. Specify the average number of lifts performed in a cycle in the Frequency field, either manually by
entering the required value or by using the up and down arrows. The value should be in a range of
0.01 to 15.00, otherwise Process Simulate resets your entry.
5. Specify the number of minutes in a cycle in the per Cycle Time (min) field, either manually by
entering the required value, or by using the up and down arrows.
6. Specify the number of minutes for the shift in the Shift Duration (min) field, either manually by
entering the required value, or by using the up and down arrows.
7. Select Start NIOSH Analysis, and from the Grip Quality dropdown list select the classification of the
hand-to-object coupling from the following options: Good, Fair, or Poor.
8. If you wish to configure Motion Constrains, check Apply. Check the body parts whose posture you
wish to constrain. These body parts remain in their current locations.
9. In the Start Time fields, specify the time of the event. Select the time (in seconds) at which you
want the event to begin, and then select Before/After the Start/End of the operation to qualify the
parameters of the specified time.

Note
The default start time corresponds to the point in the operation where you performed a right-click.

10. Click OK. The NIOSH start event, indicated by a red marker in the Gantt Chart, is added to the selected
operation at the time specified.After creating the required lift simulation and setting the NIOSH start
and end events you can run the simulation in the Graphic Viewer and generate a report file for the
lifting task(s). The NIOSH analysis report starts its recordings at the first NIOSH start event and stops
at the last NIOSH end event of the set current operation.

Set Human NIOSH End Events

The human NIOSH end event follows a preceding NIOSH start event. When no significant control effort is
required at the destination of the lift, only the recommended weight limit (RWL) of the origin is calculated,
which afterwards produces the lifting index (LI). For lifting tasks that require significant control at the
destination, a human NIOSH end event should be defined and the RWL is calculated at both the origin and
the destination to identify the most stressful location of the lift. The latter procedure is required when the
worker has to do one of the following:

• Re-grasp the load near the destination of the lift.

• Momentarily hold the object at the destination.
• Position or guide the load at the destination.

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 Procedure

1. Right-click the required operation in the Gantt Chart and select Human Event. The New Human
Event dialog box with the name of the selected operation is displayed.
2. Select the Ergonomics tab to display the following:

3. Select End NIOSH Analysis.

4. For lifting tasks that require significant control at the destination, select the Control Effort Needed
checkbox.
5. In the Human Model field, select the human model whose posture you want to analyze, either in the
Graphic Viewer or Object Viewer.
6. In the Start Time fields, specify the time of the event. Select the time (in seconds) that you want the
event to begin, select either Before or After and then select either Start Of Operation or End Of
Operation from the dropdown lists to qualify the parameters of the specified time.

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 7. Click OK. The NIOSH end event, indicated by a red marker in the Gantt Chart, is added to the selected
operation at the time specified.

After creating the required lift simulation and setting the NIOSH start and end events you can run the
simulation in the Graphic Viewer and generate a report file for the lifting task(s). The NIOSH analysis report
starts its recordings at the first NIOSH start event and stops at the last NIOSH end event of the set current
operation.

Editing NIOSH Events

You can edit or delete a NIOSH event by right-clicking the event in the Gantt Chart. A popup context menu
is displayed, enabling you to either edit or delete the selected event. If you select Edit Event, the Edit
Human Event dialog box is displayed in which you can modify the parameters of the selected event, as
required.

Note
The Edit Human Event dialog box is similar in appearance to the New Human NIOSH Start/End Event
dialog boxes except that it contains the word Edit in its Title bar.

View the Weight of a Resource or Part

While performing a NIOSH analysis, you can view the actual weight of a relevant resource or part, which
enables you to accurately simulate the object's weight parameter during the analysis.

Procedure

1. Select the required resource or part in the Object Viewer.

2. Choose Properties.
The Entity Properties dialog box displays the actual weight of the resource or part in the Weight
field.

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 Cumulative Back Load (CBL)

Note
The value displayed in the Weight field is determined by the current Weight value in the Physical
tab.

Cumulative Back Load (CBL)

The risk of injury from cumulative low back loading has been documented by numerous research groups.
In particular, the Ontario Universities Back Pain Study (OUBPS) Group, in cooperation with General Motors
Canada, found a relationship between cumulative loading exposure and the likelihood of a worker
reporting low back pain. Cumulative loading can be thought of as the accumulation of all loads, both
high and low, that are experienced over the course of a day.

Integration of the Cumulative Low Back Loading Tool allows you to consider the impact of task demands
that are performed over an entire work shift. Process Simulate compares the results calculated using this
tool against published threshold limits in order to classify the likelihood of injury. The method used to
calculate Cumulative Exposure follows the protocols used in the original study (Norman et al, 1998) and
limits are based on analysis of data as presented by Frazer (2008). Cumulative Back Loading analysis
provides an additional tool for a comprehensive ergonomics assessment of a task sequence. By considering
the shift-long impact of load exposure, you can make more informed decisions about your job and
workstation designs.

The CBL analysis only supports Simulation reports.

References

Norman et al., 1998. A comparison of peak vs. cumulative physical work exposure risk factors for
the reporting of low back pain in the automotive industry, Clinical Biomechanics, 13 (pp. 561-573).
Frazer, M. Job Rotation as a Strategy to Reduce Risk of Musculoskeletal Injuries — Does it Really Work?
Association of Canadian Ergonomists 39th Annual Conference (Workshop), Calgary, Alberta, 2008.

Recommended Reading

Neumann, W.P., Wells, R.P., Norman, R.W. (1999) 4DWATBAK: Adapting research tools and epidemiological
findings to software for easy application by industrial personnel, Proceedings of the International
Conference on Computer-Aided Ergonomics and Safety, Barcelona, Spain.

When the simulation is activated, the Create Report dialog box opens automatically.

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 Do the following:

Procedure

1. Edit the default report Name, if you wish.

2. In Shift duration, enter the duration of the work shift (in hours and minutes).
3. In the Snapshots area, check the snapshots you wish to display in the report and clear those you wish
to hide. Additionally, you can use the following tools:

- To add a new snapshot

- To edit the selected snapshot. This option opens a simple graphic editing tool.
4. Optionally, add a Description for the report.
5. Check Once created, open in the Report Viewer if you wish to access the report automatically when
it is created.
6. In Repetitions Per Shift, select one of the following:

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 • Simulation - Enter the number of simulations for the entire shift.
• Per operation - In the Repetition column, set the number of times to repeat each action.
If the total time required for the Repetitions Per Shift you configured exceeds the Shift duration, the
system issues an error message. If, however, time remains after the Repetitions Per Shift finishes,
the system issues a message noting the idle time.
7. In the Thresholds area, accept the default values for Compression and Moment or enter your own
values. The report compares these values with the results it computes.

8. Click if you wish to hide the right side of theCreate Report dialog box.
9. Click OK to confirm creation of the report.

The following is an example of a CBL report.

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 Fatigue Report

Fatigue Report

The Fatigue and Recovery Analysis tool helps you assess whether enough recovery time is available for a
given job cycle to avoid worker fatigue. Based on strength and fatigue studies published by Rohmert and
Laurig, the tool computes the recovery time required for a cycle and compares it to available rest time. If
there is not enough rest time in a job cycle to accommodate recovery time, workers are assumed to be at
risk of fatigue. With the Fatigue and Recovery Analysis tool, you can do the following:

• Design manual tasks with minimal risk of worker fatigue.

• Analyze worker fatigue continuously throughout a real-time simulation.
• Evaluate alternate work methods in planning manual tasks and equipment needs for new facilities.
• Identify the tasks in a cycle that require the most recovery time and determine the greatest
opportunities for minimizing the risk of fatigue by identifying the muscle groups that are under the
most strain.

Using muscle group torque data obtained from population static strength models, the Fatigue and
Recovery Analysis tool computes a recovery time required for each task comprising a cycle. To use the
tool, you need to:

• Set the selected human model in the most strenuous posture of a task. Alternatively, you can run a
real-time simulation of Jack performing all or some portion of the task.
• Specify the loads on the human model's hands.
• Specify the duration for each separate task and the total cycle time.

For each task in a cycle, the Fatigue and Recovery Analysis tool identifies the most fatigued muscle
group and the time required for an average worker to recover from the exertion. The recovery times for
each task are added together to arrive at a total recovery time for the cycle. This time is compared to
the available rest time, determined by the total cycle time minus the total task duration. Based on the
comparison, one of two conclusions is presented:

• If the rest time available exceeds the recovery time required, the job is assumed to provide sufficient
recovery time to avoid fatigue. However, users are advised to conduct further metabolic studies to
support the analysis.
• If the recovery time required exceeds the rest time available, the cycle is assumed to expose workers to
the risk of fatigue. Users are advised to modify the parameters of the cycle - reducing load weight, task
frequency, or whole body motions.

The results of the Fatigue and Recovery Analysis tool can be used to:

• Identify tasks in a cycle that allow insufficient recovery time for workers.
• Run what-i" scenarios to lower the risk of fatigue by modifying task variables to assess their impact on
the overall recovery time.
• Evaluate cycle design options by comparing recovery times.

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You should consider the following limitations when using the Fatigue and Recovery Analysis tool:

• While there are many factors that affect the relationship between endurance time and muscle fatigue
(muscle fiber type, blood flow, maximal force, muscle length, muscle temperature, anatomy, anatomic
environment, lactate concentration and gender), only the effect of muscle stress is directly considered in
the calculation of endurance for this tool.
• The original studies on which the fatigue data are based were performed under laboratory conditions
and with a small number of subjects. Furthermore, the experimental conditions may not always
accurately represent typical working conditions. Thus, while the tool provides an indication of the
most fatiguing aspect of a cycle and conveys a rough estimate of the overall stress placed on workers,
results should be used only as part of a comprehensive effort to reduce the risk of worker fatigue. Other
applicable tools are the Metabolic Energy Expenditure, Static Strength Assessment, and Low Back Spinal
Force Analysis tools.

The following fatigue report example shows that the left wrist requires more recovery time to prevent
fatigue.

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 Energy Expenditure

Energy Expenditure

The Metabolic Energy Expenditure tool predicts the metabolic energy expenditure requirements of a job
cycle composed of multiple tasks. It bases its prediction on worker characteristics and a description of the
tasks that comprise the cycle to be analyzed. You can:

• Determine whether newly defined or existing cycles conform to NIOSH or user-specific guidelines for
metabolic energy expenditure, or expose workers to an increased risk of fatigue and injury.
• Identify the tasks in a cycle (and its variables) that represent the best opportunities for reducing a cycle's
overall energy expenditure requirements.
• Predict whether the metabolic energy expenditure requirements of a cycle can be met by a worker
population.

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• Guide cycle design by identifying tasks that have the biggest impact on energy expenditure and predict
how changes to the characteristics of the task affect a cycle's overall energy expenditure requirements.
• Compare the metabolic energy requirements of alternative cycle designs.

The Metabolic Energy Expenditure tool calculates the metabolic energy expenditure rate for a cycle by
dividing a cycle into task elements and assigning an energy cost to each task based on measurable factors
of force, distance, frequency, posture, task technique, body weight and cycle time. To use the tool, you
need to select a human model, define the total duration of the cycle to be evaluated, and define the tasks
comprising the cycle. For each task in a cycle, the Metabolic Energy Expenditure tool calculates the energy
expenditure requirements in kilocalories. The energy demands for each task are added together, along
with the energy cost of maintaining postures, to arrive at the total energy expenditure requirement for a
cycle. This information is used with the defined cycle time to calculate an energy expenditure rate for the
cycle. You can generate reports that summarize the total energy expenditure for a cycle or break down the
energy expenditure into the individual tasks that comprise the cycle.

The results of a Metabolic Energy Expenditure analysis can be used to:

• Compare the metabolic energy expenditure rate for a cycle to NIOSH recommended limits or maximum
limits determined by several research studies. Color coding identifies when individual tasks or the entire
cycle exceeds the recommended or maximum limits.
• Identify the most demanding tasks in a cycle.
• Run what-if scenarios to improve the design of cycles by modifying task variables to assess their impact
on the overall energy expenditure rate.
• Evaluate cycle design options by comparing overall energy expenditure rates.

Note
There are many variables that contribute minimally to metabolic energy expenditure that are not
factored into the algorithm of the Metabolic Energy Expenditure tool. For example:

• Worker age, training and fitness

• Environmental temperature
• Significant amount of small hand or arm movement, when cycles require it

1. Activate the report as described in Ergonomic Analysis Tools.

The Metabolic Energy Expenditure dialog box appears.

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2. Enter the following data:

Field Description
Human Data
Human Select a human model in the Graphic Viewer.
Gender Set the gender of the human model.
Weight Enter the weight of the human model.
Duration
Cycle The total duration for the cycle under analysis.
Work time Estimate the total amount of work time during the Cycle.
Arm work Estimate the percentage of arm work during the Work time. This value, added
to that of Body work, must total 100%.
Body work Estimate the percentage of body work during the Work time. This value, added
to that of Arm work, must total 100%.
Posture
Standing Estimate the amount of time spent standing during the Cycle.
Sitting Estimate the amount of time spent sitting during the Cycle.
Bent Estimate the amount of time spent in a bent posture during the Cycle.
Total The sum of Standing, Sitting, and Bent. This is a read-only field and must
always total 100 %.

3. Configure the cycle you wish to analyze, as follows:

a. In the Task Data area, select a Category for the task.
The following categories are available: Lifts, Lowers, Walks, Carries, Holds, Pushes/Pulls, Arm
Work - Lateral, Arm Work - Horizontal, Hand Work, and Arm Work - General.
b. Set the parameters for the task category.
Each category has a specific set of required parameters, for example, Walks has the following
parameters: Time, Distance, Detail, Slope, and Frequency.
c. Type a meaningful Description for the task.
d. Click Add to list the task in the Task Data comprising the cycle.
e. Add more tasks to the cycle until the cycle configuration is complete.

Note
The total times of the tasks must not exceed the duration you entered for Cycle. If, however,
the total is less than this, the system relates to the difference as rest time.

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 Energy Expenditure

f. Click Update to recalculate the energy Summary at the bottom of the Metabolic Energy
Expenditure dialog box.
4. In the Task List, you can do the following:
• Use the Move Up and Move Down arrows or drag and drop any task to create the desired task
order within the cycle.
• Select a task and edit its properties. Click Update to recalculate the energy Summary.
• Select a task and click Delete.
Total task time calculates the time required to execute all the tasks in the cycle.
The Summary area displays the energy consumption statistics for the entire cycle. The system
compares the results with statistic data compiled by Garg, and highlights the Energy expenditure rate
in red if it exceeds the recommendations.
5. If you have entered a large amount of data in the Metabolic Energy Expenditure dialog box, you
can save the current configuration or load a configuration you created previously. This enables you to
create multiple energy expenditure analyses with varying parameters to compare and fine-tune your
workflow or optimal energy expenditure.
• Click Save As to save the current configuration.
The system prompts you to name your XML configuration file and set a location in which to store it.
• Click Load to load a configuration you created previously.
You can make changes to continue the comparison and arrive at the optimal energy expenditure
for the current cycle.
6. Click Create Report to generate and view the energy expenditure report, as illustrated in the
following figure.

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Run EAWS report

Run EAWS report

EAWS (European Assembly Work-Sheet) is an ergonomic first degree level system for assessing the risk to
workers from biomechanical overload. EAWS analyzes multiple ergonomic variables and awards a score for

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each job cycle under consideration. Cycles are composed of any number of tasks. The scoring system is as
follows:

Siemens recommends that only users knowledgeable in the EAWS standard use this application.

A license is required from the German MTM association in order to use EAWS.

The EAWS Task Data dialog box contains seven tabs: General, Posture, Hand, Arm, Load, Upper Limb
and Data, each described in the steps below.

You can choose to add the tasks manually in each tab, or you can record the tasks using the Record Tasks

buttons in each tab. Run a simulation after clicking Record and end the recording by

clicking Stop . This fills the fields of the EAWS Task Data dialog box with data from the simulation.

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Run EAWS report

1. Activate the report as described in Ergonomic Analysis Tools.

The EAWS Task Data dialog box appears.

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Note
The parameters in the General tab relate to all the tasks in the cycle.

2. Do one of the following:

• To load a currently-existing EAWS cycle analysis, click Load, select a file, and click OK. After loading
the analysis, you can edit it.
• To compose a new EAWS cycle analysis, use the EAWS Task Data dialog box, as described in this
procedure.
3. To add a task to the cycle, use the Task area at the bottom of the tab. Type a Name for the task and
set its Duration.
The Task area is common to all the EAWS tabs. You can click Add at any stage of the EAWS session to
add a new task or Update to save the latest changes to the cycle. Add tasks one-by-one to the cycle
until you have fully defined it. The tasks comprising the cycle are listed in the Data tab.
4. In the Plant area, enter the following general information about the cycle location:
• Plant—The name of the manufacturing plant in which the cycle is performed.
• Line—The name of the line on which the cycle is performed.
• Details—Add pertinent details.
• Mode—Select Design if you are designing a new cycle or Observation if you are editing an
existing one. EAWS scores tasks differently according to the selected mode.
5. In the Duration and Breaks area, set the following parameters that characterize the duration of the
task:
• Gross Shift—The duration of the working shift.
• Cycle—The duration of the cycle.
• Number of breaks—The number of breaks during the cycle.
• Break Duration—The duration of the breaks in the cycle.
• Lunch Duration—The duration of the lunch break.
• Net Shift—The duration of the daily work shift.
• Cycles/shift—The number of task cycles per work shift.
6. In the Workplace area, set the following parameters:
• Organization—Set the organization break policy. The following values are possible:
◦ Break every time possible (Process will not be stopped)
◦ Cycle duration > 10 min or breaks are possible
◦ Cycle duration > 1 min <= 10 min or break are possible under certain circumstances
◦ Cycle duration > 15 sec <= 1 min or break are rarely possible
◦ Breaks lead to interruption or stop of process

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• Workspace—Set the workspace available for the cycle. The following values are possible:
◦ There is ample headroom in the workplace
◦ Bending is required
7. If you launched EAWS without selecting a human model, you can set the Human parameters as you
wish.
• Human—The name of the human model.
• Gender—The gender of the human model.
If you selected a human model before launching EAWS, the Human area displays the read-only
parameters of the model.
8. Click the Posture tab.

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9. Click one of the picture buttons in the Posture Category to change the model's posture.
The Posture textbox displays the name of the selected posture. This parameter is retrieved from the
posture of the selected human model.
10. If the human model is supported by a firm object while maintaining the selected Posture (for
example, a chair back when sitting, or an object to lean on when standing), check Human has
support while in the posture.
11. In the Details area, do the following:
• Set the Intensity of the various movement types.
Lateral, Rotation, and Flexion are measured in degrees; the maximum is 90 degrees. Far Reach is
measured in percentage.
• Set the Duration of the various movement types.
The Duration is a percentage of the task duration.
• Set the Hand height for the selected posture.
12. Click the Hand tab to specify hand actions for the task.

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The parameters in the Hand tab are derived from the selected human model. You can change them if
you wish.
13. In the Force area, set the following parameters:
• Set the Force (in Newtons) applied during the task.
◦ If the force is applied just once during the task, select Static and set the percentage of the task
duration for which the force is applied.
◦ If the force is applied repetitiously during the task, select Dynamic and set the frequency with
which the force is applied.
• Select which Hands participate in the task.
14. Select the Grip Type.
The Grip Type textbox displays the name of the selected Grip Type.
15. Click the Arm tab.

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The parameters in the Arm tab are derived from the selected human model. You can change them if
you wish.
16. In the Force area, set the Force (in Newtons) applied to the arms during the task.
• If the force is applied just once during the task, check Static and set the percentage of the task
duration for which the force is applied.
• If the force is applied repetitiously during the task, check Dynamic and set the frequency with
which the force is applied.
17. Select the Direction of the force.
The two human model images in the dialog box define the possible force directions with letters.
Select the appropriate letter from the Direction dropdown list.
18. Click the Load tab and configure how the human model carries loads.

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19. Select the Handling type. The possible values are:

• Repositioning
• Holding
• Transport
• Push/Pull <5m
• Push/Pull >5m
Depending on the Handling type you selected, some parameters in the Distance and Duration per
Cycle, Load, and Push And Pull areas are active and others are inactive.
20. In the Distance and Duration per Cycle area, set the following parameters:
• Number—The number of Handling type actions performed during the task. Available for
Repositioning, Holding, and Transport handling types.
• Distance—The distance covered during the task. Available for Push/Pull <5m and Push/Pull >5m
handling types.
• Duration—The percentage of the task duration during which the human model carries the load.
21. In the Load area, set the following parameters:
• Weight—Set the weight of the load. To indicate that two workers are required to carry the load,
check Two workers carry load.
• Select one of the following Posture Points:
◦ Posture Points—Set the Load position to be At body, Close , or Far . If this causes instability,
check Instable.
◦ Manual posture Points—Set the desired number of posture points. This option is only for
advanced users.
22. The Push And Pull area is only available for the Push/Pull >5m and Push/Pull <5m handling types.
Set the following parameters:
• Set one of the following types of vehicle: Hand truck, barrow, Pushcart, dolly, or Pallet lifting
truck.
• Set one of the following floor conditions:
◦ Very slick floor
◦ Slick and even floor
◦ Rough floor, small edges
◦ Structured sheet metal, in/out of track
◦ Trolleys must be teared off when starting
23. Click the Upper limb tab.

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24. Enter percentages of the task duration when the human model maintains awkward postures, as
defined in the dialog box, for the following limbs: Wrist, Elbow, and Shoulder.
25. After you have entered all the data that you need for the task, specify the following:
• Task name
• Duration
• Quantity (how often the task is repeated)
• Frequency (if you enter 1, the system executes the task once every cycle; if you enter 0.5, the task
is executed only every second cycle)
26. Click Add to add the task to the analysis.
27. Click the Data tab to view the EAWS cycle analysis and its results.

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The Task Data list displays the tasks comprising the current cycle together with the Duration of each
task. The Total Duration shows the sum of the durations of all the tasks in minutes and seconds.
Clicking Merge Tasks merges all consecutive identical EAWS tasks into a single task. Such tasks may
have been created while recording postures in a Motion Capture session.
The Results area displays the following: EAWS scores awarded for Posture, Force, and Load;the score
awarded to Upper limbs; and the final EAWS score. The latter two items are color coded according to
the color Key. If the final score is not within the green range, consider adjusting tasks to optimize the
cycle and bring the score within the desired range.
You can select the checkbox to recalculate the EAWS score after each task addition/change, or click
Evaluate when you need to recalculate the score. Click Open Report to display the EAWS report.
28. Optionally, select a task and do either of the following:

• Click to edit the task. Access the various tabs in the EAWS Task Data dialog box, make your
changes, and click Update.

• Click to remove the task from the Task Data (deletes it from the cycle).
29. To save the EAWS cycle analysis as an XML file, click Save, select a file name and location, and click
OK.
30. You can click Send to EAWSDidital to review the report.
31. Click OK to close the EAWS Task Data dialog box

Generate time reports

• Activate the report as described in Ergonomic Analysis Tools.

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Report Viewer

Report Viewer

The Report Viewer option enables you to view reports generated after performing ergonomic analyses
for lifting operations. For example, the NIOSH Analysis to analyze manual lifting activities, the OWAS
Analysis to analyze operations according to predefined joint values, the Static Strength Prediction
Analysis to analyze the percentage of people with the strength required to perform the task, and Low
Back Analysis to determine whether the forces on the lower back are within safe limits.

Note
All the report files are saved locally on your hard disk under the Profiles folder of the current user. You
can change the location of this folder, if required, in the Report Viewer Tab of the Human Options
dialog box.

Procedure

1. Choose Human tab → Ergonomics group → Report Viewer .

The Report Viewer is displayed.

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 2. Select a report (or reports) to view from the list on the left side of the Report Viewer and click
Display. The selected report is displayed on the right.

Note
The name of the report currently displayed in the Report Viewer is displayed above the list of available
reports.

You can use the different option buttons available in the Report Viewer to filter and navigate reports, as
follows:

Butt
on Option Description
Previous Displays the previous report.

Next Displays the next report.

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Butt
on Option Description
Up Advances one level up in the Report directory hierarchy.

Select All Selects all reports.

Display Displays the selected report(s).

Delete Deletes the selected report(s).

Edit Custom Data Enables you to edit the user-defined data contained in tabs
displayed in the Edit Report Name dialog box.
Save As Enables you to save the selected report as an HTML file.

Print Enables you to print the selected report(s).

Explorer Opens the Report directory in Windows Explorer.

Refresh Refreshes the display.

Enables you to display

reports only for a selected
human model.

Motion Capture

Tracking and capturing of human motion

The Motion Capture toolkit is an add-on module for Process Simulate that allows you to use motion capture
devices like motion trackers and gloves to drive a human figure in the scene. The motion capture devices
supported by Process Simulate are listed in Running Motion Capture. These motions provide insight about
how people will perform a task or interact with a product design.

A common workflow for using this technology starts with the user attaching markers to a real human.
The marker positions are tracked over time, as the human performs tasks, typically in a laboratory setting
with Motion Capture hardware equipment. The movements of the real human are used to drive accurate

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motions for the virtual human in a 3D environment. Simulations can be saved and analyzed using the
available ergonomic tools.

The following sections describe how to use data from Motion Capture devices with Process Simulate
Human.

Note
• The Motion Capture Option in Process Simulate requires a separate license. The exception is Kinect,
which runs on the Process Simulate basic Human license, with no need to purchase an additional
license.
• When discussing Motion Capture, the term subject refers to the live human being tracked, and the
term model refers to the corresponding human model in Process Simulate.

Most motion capture devices support the C3D protocol and are able to record and save data in a .C3D file.
Process Simulate can open C3D files and play the recorded motion, enabling you to use most commercially-
available motion capture hardware and releasing you from the limitation of supported hardware.

Prerequisites for body motion tracking

Prerequisites for full body motion tracking

Regardless of the device you are using, the following tracker skeleton segments are required to drive a Jack
manikin. These segments should represent joint centers on the actual subject.

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Head
Location — center of head at eye level
Orientation in T-Pose

• X-axis should point left (as seen by the subject)

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• Y-axis should point up

• Z-axis should point forward (as seen by the subject)
Neck
Location — base of neck
Orientation in T-Pose

• X-axis should point left (as seen by the subject)

• Y-axis should point up
• Z-axis should point forward (as seen by the subject)
Spine1
Location — center of ASIS/PSIS at waist level (l5)
Orientation in T-Pose

• X-axis should point left (as seen by the subject)

• Y-axis should point up
• Z-axis should point forward (as seen by the subject)
Root
Location — hpoint (between hip joints)
Orientation in T-Pose

• X-axis should point left (as seen by the subject)

• Y-axis should point up
• Z-axis should point forward (as seen by the subject)
LClavicle
Location — right clavicle joint
Orientation in T-Pose

• X-axis should point to the ground

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
RClavicle
Location — right clavicle joint
Orientation in T-Pose

• X-axis should point up

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)

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LUpperArm
Location — left shoulder joint
Orientation in T-Pose

• X-axis should point to the ground

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
RUpperArm
Location — right shoulder joint
Orientation in T-Pose

• X-axis should point up

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
LLowerArm
Location — left elbow joint
Orientation in T-Pose

• X-axis should point to the ground

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
RLowerArm
Location — right elbow joint
Orientation in T-Pose

• X-axis should point up

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
LHand
Location — left palm center
Orientation in T-Pose

• X-axis should point to the ground

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
RHand
Location — right palm center
Orientation in T-Pose

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• X-axis should point up

• Y-axis should be along arm length
• Z-axis should point forward (as seen by the subject)
LUpperLeg
Location — left hip joint
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along leg length
• Z-axis should point forward (as seen by the subject)
RUpperLeg
Location — right hip joint
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along leg length
• Z-axis should point forward (as seen by the subject)
LLowerLeg
Location — left knee joint
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along leg length
• Z-axis should point forward (as seen by the subject)
RLowerLeg
Location — right knee joint
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along leg length
• Z-axis should point forward (as seen by the subject)
LFoot
Location — left ankle joint
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along foot length

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• Z-axis should point up

RFoot
Location — right ankle joint
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along foot length
• Z-axis should point up
LToes
Location — left toes
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along foot length
• Z-axis should point up
RToes
Location — right toes
Orientation in T-Pose

• X-axis should point right (as seen by the subject)

• Y-axis should be along foot length
• Z-axis should point up

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Run Motion Capture

Before starting, refer to Prerequisites for body motion tracking.

To connect your supported motion tracking hardware to Process Simulate

Note
If communication between your motion capture application and Process Simulate is not established after
performing this procedure, check your antivirus and firewall settings. The default port for motion capture
is 4085 and this must be open for communication.

1. Choose Human tab → Motion Capture group → Tracking Setup , and select the name of your
tracking hardware. The following options are available:

ART Qualisys
CyberGlove from Immersion Corporation Rokoko
AXS Synertial
Motion Analysis from Motion Analysis Vicon Motion from Oxford Metrics Group
Corporation
MotionWerx XSens
Noitom Any Motion Capture device supporting the Siemens
API

If you have hardware from another manufacturer, select Other Trackers to open a generic dialog box.
The relevant dialog box appears.

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Note
The dialog parameters may vary depending on the hardware being connected.

2. In Port (UDP Port for XSens), set the port number for accessing the motion capture application.
Or
In Host IP, enter the IP address or name of the computer that is running the motion capture
application.

Note
If the motion capture software is running on the same machine as Process Simulate, you may also
enter localhost.

3. System Specific Settings:

• For Motion Analysis: In Local IP, enter the IP address or name of the computer that is running
Process Simulate.

Note
If you are running both the motion capture application and Process Simulate on the same
system, the IP address for the local and host computers should be the same. In this case, you can
also enter localhost for the IP.

• For Noitom, set Num. actors to the number of human models you are tracking with the motion
capture hardware.
4. Confirm that the orientation of the bodies displayed in the scene is correct.
The tracked bodies appear in the same orientation in Process Simulate as they do in the motion
capture application. If modifications are required, use the Move Origin X, Y, and Z controls to correct
the orientation of the body set.
5. Select a Sample rate in frames per second. This defines the number of frames passed from the
tracking software to Process Simulate.
6. To display the tracker bodies in Process Simulate, check Show bodies.
7. For optical systems, you can also display markers in Process Simulate when Show markers is set.
8. In the Root Body Mapping area, create links between the real humans (and objects) being tracked by
the motion capture application and Process Simulate models:
a. The Root list displays the body name for each real human (and object) that is being tracked. For
each, select the human model (or object) in Process Simulate that you want to connect to the
tracker data.
b. Process Simulate lists the linked pairs of live tracked humans and Process Simulate human
models in the Root Body Mapping list.

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Note
• You can also select objects to track in the motion capture application and link them to
objects in Process Simulate. However, if you try to link objects to human models (or vice
versa), the system issues an error message.
• Use the Attach command to link an object to a human model.

9. If you wish to load the specified human models in Virtual Reality, click Load in VR. In this case, the
posture of the human model is controlled by the motion capture data, but its location is controlled
by the Head Mounted Display in Virtual Reality. Thus, if you use the teleport function to move around
the virtual data, the human model follows.

Note
• V60 segmented human models are not supported
• A Virtual Reality license is required to run this feature.

In the following example, the Motion Capture application (top left) controls the posture of the
human model (male wearing a blue shirt), as shown in Process Simulate (on the right). The middle
photograph shows the Virtual Reality live user in a Motion Capture suit and Head Mounted Display,
which controls the view (and position) of the human model. And the Process Simulate Virtual Reality
application (bottom left) shows what the Virtual Reality live user can see (the female model working
opposite him).

10. Optionally, you may wish to only track a head and/or hands for rapid visibility and hand clearance
studies. In this case, you may choose to load a hand model and link this to your tracker data.
a. Click Temporary Part.

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The system navigates to a Temporary Parts folder. There are folders with head figures and
separate hands pre-set to standard postures (such as a pinch grip).
b. Select the preferred figure(s), and click OK.
The system loads a graphical representation of the selected part. This part acts just like any
inanimate object in Process Simulate and you can link it to tracker data, so that the head/hands
follow the head/hands of the subject being captured by the motion capture system.
11. Click Connect.
12. Click the Human tab - this contains three sections:
• Tracking Options (described below)
• Scaling (described below)
• Root Body Mapping (described above in the Device tab section)

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Run Motion Capture

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13. Select a human model in the Human or object list. If you select more than one human model, the
controls in the Human tab become inactive.
14. Set the tracking Mode to one of the following:
• Match joint angles: If you wish to track the entire human model. In this mode, the system
interprets tracking data based on derived joint angles, as opposed to the joint locations, allowing
greater flexibility when animating avatars of sizes other than the size of the live subject being
tracked. This mode is available for the Vicon, Noitom, Motion Analysis, Xsens, and Rokoko systems.
• Match hand/foot locations: To track a real human model using just a few markers.
15. Before constraining the human model, move the Jack figure and/or tracker data to the desired start
location. For example, if you wish to track a human reaching into a bin, first position it standing in
front of the bin. Prior to AutoScaling, it is expected that a subject is standing in a straight pose or,
ideally, a T-pose.

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Run Motion Capture

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16. Once the figure is in the preferred location, click Constrain: Move tracker data to human.

The tracker data automatically snaps to the figure's location, as shown in the following figure.

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Run Motion Capture

Alternatively you can move the ORIGIN figure manually to reposition tracker bodies.
A placement manipulator for the motion capture origin frame is also displayed enabling you to
reposition the marker cloud and the human together to fine-tune the location.
17. Alternatively, click Constrain: Move human to tracker data.
In this case, the result is as follows:

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18. Click Reposition Tracked Human if you wish to relocate both the human and tracker data as a unit
within the scene.
This option maintains the alignment of the trackers relative to the figure so that no additional
tweaking is needed after a move. This is useful if, for example, you wish to test how a worker reaches
into a bin from the front and then from the side.
19. You can click Clear Neutral Pose Offsets to remove existing offsets and relink your motion capture
data with the human model.
This discards the offsets captured when you first constrained (or auto scaled) the human model. To
capture new offsets, you must first cause the human model to stand up straight.

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Run Motion Capture

In Match hand/foot locations mode, you can click Reposition Tracked Human to select a new
position for the human model.

20. In the Figure Scaling section, you can scale the human model to the size of the tracked human for
accurate simulation.

Do one of the following and then click Scale:

• Use the default Auto Scale option and enter the Height and (optionally) the Weight of the tracked
human.

Note
◦ When scaling your subject and figure should be in T-Pose.

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◦ When using a tracking glove, and auto-scaling is active, the hands are also scaled
automatically.

If you do not enter a weight, the system uses a typical weight based on the height you entered.
• For additional control of the anthropometric mapping between a live subject and figure,
dimensions can be collected from the subject and read directly into the Jack environment. This
can help to generate a figure which closely approximates the individual being tracked. Select Read
scaling parameters from file and navigate to a predefined human parameters text file (must
have .txt suffix). For example:

height 191.00
weight -1 (if subject weight is known, enter it in place of -1)
ear_height 177.82
c7_height 163.92
acromion_height 164.03
elbow_span 102.49
wrist_span 156.07
full_arm_span 197.64
asis_breadth 24.70
trochanter_height 100.21
knee_height 55.35
ankle_height 7.20

This method can help to improve the accuracy of the scaling results.
Measuring anthropometric dimensions on your subject
The following table and diagram describe how to measure your subject in order to create the human
parameters file. Ask the subject to stand in a T-Pose while measurements are taken (with or without
shoes).

Dimension Measurement Description

height Floor to top of head
weight As reported by subject or scale
Weight is not required, but helps scale segment breadths appropriately
ear_height Floor to opening of the ear
c7_height Floor to cervicale landmark (base of neck)
acromion_height Floor to acromion landmark (top of shoulder)
elbow_span Left olecranon to right olecranon (posterior point of elbow)
wrist_span Stylion landmark on right wrist to stylion landmark on left wrist
full_arm_span Tip of right middle finger to tip of left middle finger
asis_breadth Left bony projection to right bony projection of the anterior iliac crest
trochanter_height Floor to the superior trochanterion landmark

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knee_height Floor to lateral femoral epicondyle height

ankle_height Floor to lateral malleolus

21. To create additional viewing windows that show the virtual environment from the model's
perspective, such as when using a head mounted display:
a. Click the Eye View tab.

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b. Select a human model in the Human or object list. If you select more than one human model,
the controls in the Eye view tab become inactive.
c. Select the type of eye view:
• None - No eye view is created.
• Head forward - A single eye view is created with a between the eyes view.
• Two channel - Eye views are created for each eye.

Note
You can open multiple eye views if you wish.

d. If you selected Two channel, enter the distance between the eyes in the Eye separation field
and the focal distance in the Focal distance field (the units are specified in the Units Tab).
e. To control the field of view, set Horizontal and Vertical.
These controls configure the human model's view cone.

Note
Modifying either Horizontal or Vertical automatically adjusts the other. This maintains the
aspect ratio and prevents distortion of the view.

In the following example, when Horizontal is set to 60, the model in the blue shirt observes the
following:

When Horizontal is set to 30, the model in the blue shirt observes the following:

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 Run Motion Capture

f. To switch to full screen mode, click Full screen.

22. Click OK to save the configuration and start motion tracking.

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Using the CyberGlove System

Using the CyberGlove System

The following CyberGloves are supported:

• 18 sensor CyberGlove
• 22 sensor CyberGlove
• Wireless CyberGlove II
1. Choose Human tab → Motion Capture group → CyberGlove.
The Cyber Glove dialog box appears.

2. For each glove (hand), set the following parameters:

• Human - The human model to be constrained by the glove.
• Host - The IP address of the cyberglove host machine.
• Serial port - The serial port to which the cyberglove is connected on the host machine.
• Port - The port number of the cyberglove host machine.

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 Kinect Motion Sensor

• Baud rate - Set the data transmission speed in bits per second.
3. Click Connect.
4. Click OK to save the configuration and start motion tracking.

Kinect Motion Sensor

Using Kinect® to Track Human Motion

The Kinect motion sensor is a low-cost tracking system. It connects to your computer via a USB port
and typically it is mounted on top of your monitor. Kinect uses two cameras, a depth camera and a
color camera, to track motion, determine the subject's location and posture, and fit the information to a
skeleton display. After this, Kinect passes the information to Process Simulate. Kinect also supports speech
recognition; this facilitates working alone with the system, as the camera can track you (you are the
tracked human subject) while you issue verbal commands to control the software.

Kinect runs in one of the following modes:

• Posturing - The system tracks the posture of the human subject and applies the same posture to the
Process Simulate human model in real-time.
• Relocate - The system reads the arm gestures of the tracked human subject and uses them to control
the fly direction, speed, and elevation of the human model.

The results of the Kinect system are not highly accurate but are often sufficient for you to create human
operations quickly without having to access all the Process Simulate commands associated with creating
these operations. Genuine motion capture systems are described in Motion Capture.

The following are the system requirements:

• Microsoft Windows 7.
• 4 GB or more of RAM.
• Only Kinect for Windows Sensor V1 is supported.

Note
The Kinect Viewer requires that Kinect runtime be installed. You can find KinectRuntime on the
Tecnomatix setup DVD2 under Add-Ons.

Run a Kinect session

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 Procedure

1. Choose Human tab → Motion Capture group → Kinect.

The Kinect dialog box appears.

Note
The Kinect command can also be found in the Human category using the Customize command.

2. Optionally, click to reveal the Kinect options.

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 Set any of the following:
• Show markers - Reveals the markers that Kinect projects on the human subject and uses for
tracking.
• Show skeleton - Creates a skeleton by drawing it between the markers.
• Activate voice commands - Enables you to speak the commands to control the Kinect session.
• Show voice commands - When checked, the last spoken voice command is displayed in the
Graphic Viewer.

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 • Start tracking after - Delays the start of tracking; set the number of seconds after which to start
tracking after issuing the track command. This is useful if you are working alone, as you can initiate
the track command from your computer and then move into place before tracking commences.
• Reset posture after tracking - The human model returns to its initial posture after exiting the
posture mode. This can save unnecessary work.
• Center human in Graphic Viewer - In addition to tracking the subject, the Kinect camera moves as
required to keep the human subject within its line of sight.

Note
Blocking the human subject from camera view at any time during tracking may cause gaps in the
simulation.

• Sample rate - Set the sample rate in frames per second. Higher sample rates create smoother
simulations but use more computing resources and vice versa.
3. To issue the tracking command, select one of the following modes:
• Posturing - The system tracks the posture of the human subject and applies the same posture to
the human model in real-time.
• Relocate - The system reads the hand and arm gestures of the tracked human subject and uses
them to control the fly direction, speed, and elevation of the human model. By default, the system
relates to the right arm; if the subject is left-handed, check Left arm elevation.

Note
◦ Walking speed is affected by the Human Options. Adjust these values (by trial and error) to
test different speeds, especially in crowded or cluttered environments.
◦ Activating Dynamic Clipping can often provide a better view of the human model in cluttered
environments.

The Jack-Kinect application launches and runs in the background, tracks the human subject, analyzes
the tracking information, displays the information in the form of a skeleton-like stick figure, and
passes the information on to Process Simulate.

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 The following illustrates how the markers and skeleton will display in the Process Simulate Graphic
Viewer if you enabled them in the Jack-Kinect options.

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Kinect Speech Recognition

Note
Jack uses predictive methods to improve posturing results but the following limitations apply:
• When body parts overlap, the skeleton representation may be inaccurate.
• No information about head, hand, or foot orientation is available. This means the wrist, ankle
and neck joints may not match the human model.

After activating the Posture Recorder, Process Simulate saves the tracking information as human
operations.

Kinect Speech Recognition

Kinect voice recognition uses the system default microphone.

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 Kinect Speech Recognition

In a noisy environment, consider using a headset or external microphone instead of the Kinect device
microphone.

The Jack application displays all the voice commands. Those currently available are colored green, those
currently not available are colored in gray, and the command currently being executed is colored red.

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Kinect Speech Recognition

The following is a list of the Kinect voice commands for controlling the Kinect camera:

• View <Top/Back/Front/Right/Left/Current/> - The camera moves to a predefined location relative to the

human model.
• Camera <Up/Down/Right/Left> - The camera orbits the human model in the defined direction until you
issue the Camera Freeze command.
• Zoom <In/Out> - The camera zooms in/out.
• Auto Camera - Activates the camera in automatic mode.

The following is a list of the Kinect voice commands for controlling the human subject:

• Next Human - Activates the next human model and zooms in to this model.
• Explore - Starts transferring gestures from the tracked subject dictating the motion of the controlled
jack figure.
• Posture - Starts transferring postures from the tracked subject to the controlled jack figure.
• Reset - Resets the model.
• Create Snapshot - Creates a snapshot of the current view.
• Stop - Stops the current operation.
• Relax - The human model moves to the default relaxed standing posture.
• Step <Forward/Backward/Left/Right - The human model steps forwards/backwards/left/right until you
issue the Stop command.
• Turn <Right/Left> - The human model turns right/left until you issue the Stop command.

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 Motion Capture Player

• Enable Grasping - Objects colliding with the hand(s) are highlighted in yellow.
• Grasp <Right/Left/Both> or Attach <Right/Left/Both> - Objects colliding with the hand(s) become
attached to the hand.
• Release <Right/Left/Both> or Detach <Right/Left/Both> - Objects attached to the hand(s) are released.

Motion Capture Player

After using motion capture and recording the motion, you can play back the recorded motion in Process
Simulate. You can also create operations in the Object Viewer automatically while playing files. The
Motion Capture Player supports recordings made using third-party motion capture devices and saved in
C3D and MVNX (XSens) format.

Note
For information on placing markers on human models for the Motion Capture Player, refer to Marker
Mapping for the Motion Capture Player.

Procedure

1. Choose Human tab → Motion Capture group → Motion Capture Player.

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 2. In File, navigate to the motion file you wish to play.

3. Click Play to play the motion.

4. Use the other recorder buttons to navigate within the recording and to locate points of interest. You
can also use the slider to move the recording backwards and forwards.
5. In the Marker Mapping area, set the mapping method in one of the following ways:

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 • If the default markers were changed before or during recording, select Map file and navigate to the
updated mapping file.
• If the default markers did not change, retain the default Auto map setting.
6. (Optional) Click Move origin to open a manipulator on the origin of the markers frame, which
enables you to move all the markers together.

Note
If a human model is currently constrained to the markers, the human model also moves with the
origin. In this way, you can align the motion capture data with your virtual environment.

7. Select or clear Show markers to display or hide the motion capture markers.
8. In the Constrain Human area, select a human model in the scene.
9. Click Constrain to force the human model to move in synchronization with the motion capture
markers, or Unconstrain to release the human model.If you choose Unconstrain, when you play the
motion, the markers move and the human model remains stationary.
10. For improved tracking accuracy, play the motion until the human is standing in a T-pose or neutral
pose (standing straight), and then click Capture Neutral Pose Offsets.The tracking algorithm
captures neutral posture offsets for the various body parts and uses these posture offsets in
subsequent frames to generate accurate tracking results.
11. Set the Scale Human parameters as described in Run Motion Capture.
12. If you wish to create an operation from the motion file, proceed as follows:
a. In the Create Operation area, set TSB Pose to create a Task Simulation Builder pose operation
or Standard Posture Operation to create a standard operation.
b. Set the Sample rate in frames per second. Setting a high sample rate uses more system
resources. It is also more difficult to perform post-processing when the frame rate is high.
c. Click Create. The Motion Capture Player plays the motion file in the background and creates
the operation. The new operation is named according to the name of the motion file played and
displayed in the Object Viewer.
The system also generates analysis reports for the analyses that are currently active in Analysis
Tools.

Note
• The Motion Capture Player does not support NIOSH analysis and Ergonomics Metrics.
• If you are playing an MVNX motion file, it is also possible to link a video file (MP4 or M4V) to
the new operation (refer to Link Video to Pose Task). To do this, name the video file with
the same name as the MVNX file and store it in the same folder. After creating the new pose
operation, the video file is automatically linked to the pose task.

d. If you created a TSB Pose operation, the player creates a single pose posture operation with
a single pose action. If you wish to perform human pose analysis, this operation is sufficient.
If, however, you wish to perform load analysis, you can use the Task Simulation Builder to

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 Marker Mapping for the Motion Capture Player

perform post-processing: Split the pose posture operation into separate actions for walking,
carrying, etc. You can then perform ergonomic load analysis on the carry action.
13. Click Close to end the Motion Capture Player session.

Marker Mapping for the Motion Capture Player

If necessary, set up markers on the live human for tracking. Use the marker positions and names described
in the following figures.

If you are using the XSens motion capture device, exporting the recording to MVNX format includes all the
markers required for playback in the Motion Capture Player. For other devices, the marker information
may be stored in a .C3D file.

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Marker Mapping for the Motion Capture Player

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 Marker Mapping for the Motion Capture Player

Markers List (label):

1. Top of Head (HEADTOP) *

2. Head Left (symmetrical coplanar points on right and left of the head) (LHEAD) *
3. Head Right (symmetrical coplanar points on right and left of the head) (RHEAD) *
4. Back of Neck (C7)
5. Left Shoulder (LSHO)
6. Left Elbow (LELB)
7. Left Wrist (LHAND) ǂ
8. Left Hand MCP-2 (LHAND2) ǂ
9. Left Hand MCP-5 (LHAND5) ǂ
10. Right Shoulder (RSHO)
11. Right Elbow (RELB)
12. Right Wrist (RHAND) ǂ
13. Right Hand MCP-2 (RHAND2) ǂ
14. Right Hand MCP-5 (RHAND5) ǂ
15. Left ASIS (LASIS)
16. Left PSIS (LPSIS)
17. Right ASIS (RASIS)
18. Right PSIS (RPSIS)
19. Left Knee (LKNE)
20. Left Ankle (LANK)
21. Left Foot MTP-1 (LMT1)
22. Left Foot MTP-5 (LMT5)
23. Right Knee (RKNE)
24. Right Ankle (RANK)
25. Right Foot MTP-1 (RMT1)
26. Right Foot MTP-5 (RMT5)

* Some Motion Capture Player data sets have 4 markers on head – LFHD, LBHD, RBHD and RFHD.

ǂ Some Motion Capture Player data sets have 3 markers on hand, two on wrist and one on middle finger
knuckle – LWRA, LWRB, LFIN and RWRA, RWRB, RFIN.

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Marker Mapping for the Motion Capture Player

Markers are automatically identified based on labels and associated with various body parts of the human
model. If the auto identification fails, you can load a marker mapping file to set up associativity. Set Show
Markers to set the visibility of the markers.

A marker mapping file must be a text file (.txt exentsion) with two columns – the left column contains
marker labels and the right column lists corresponding figure names. Comment lines start with the #
character. The first column of marker labels is the same for all mapping files. Figure names in the second
column must be left empty for unused markers. The following is an example of a marker mapping file:

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Posture Recorder

Posture Recorder

The Posture Recorder option enables you to record the motion of any human model or inanimate object
in Process Simulate. When the Posture Recorder is used, a sequence of operations is generated. This
sequence can be later re-played or edited.

1. Choose Human tab → Motion Capture group → Posture Recorder.

The Posture Recorder appears.

2. The recorder can record all the human models that are mapped in the current Motion Capture
session. To add a human model not currently listed in Record Humans and Objects, click the list and
pick the desired human model in the Graphic Viewer or the Object Viewer, or write the name of the
human model.
The human model is added.

Note
You can also add inanimate objects if you wish to record their motion.

3. In the Record Humans and Objects list, select the human models/objects whose motion you which
to record.

Note
The number of items you can record simultaneously without affecting performance depends on
your hardware configuration.

4. Click .
Recording starts.
5. Make all changes you wish to include in the sequence of operations.

6. When done, click .

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 Posture Recorder

The Operation Scope dialog box appears.

7. Enter a name for the motion recording in the Name field.

8. Select a target in the Scope field. You can select any compound operation or a Task Simulation Builder
operation (refer to Create Task Using Posture Recorder).
9. The Operation Scope dialog box informs you how many frames have been recorded. In this example,
65 frames. You can set Transfer every to reduce the number of frames to be generated and saved in
the new operation.
10. Click OK.
The following progress dialog box is displayed.

The Operation Count field shows the number of operations that have been processed.

When completed, the sequence of operations appears with all posture changes in the Object Viewer.

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Follow the Leader

Note
The recorded simulation only contains posture operations and object flow motions - resulting in optimal
execution performance. However, if you had launched the Posture Recorder within Virtual Reality, it
generates Task Simulation Builder (TSB) actions.

Tip
If there are existing simulations that contain human tracking operations (human models following
moving objects), the system omits tracking operations in the new simulation in order to reduce the
demand on system resources. The result is a new sequence of operations containing posture operations
and object flow motions, with minimal resource requirements.

Follow the Leader

When performing motion capture, it may be useful to configure human models with varying physical
characteristics and set them to mimic the movements of the live human subject. In this way, it is possible
to verify that the work station is configured to suit all the workers in the team. For example, you may
discover that a short human model may not be able to reach a particular object or that there is insufficient
head room for a tall model. Typically, the live human subject is the leader and human models mimic the
leader's movements (although it is also possible to configure a human model to be the leader).

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 Procedure

1. Choose Follow the Leader .

The Follow the Leader dialog box appears.

2. Click Add Couple to create a leader/follower couple.

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 The Add Couple dialog box appears. By default, Leader is populated with the currently active human
model. If you wish to override this setting, select a different human model from the Leader dropdown
list.

3. Click the Followers list and select human models to follow the specified leader.

4. Click Add to add the new couple(s) to the Follow the Leader dialog box.

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 5. Create more couples with different leaders as required.
6. Click OK when you have finished to close the Add Couple dialog box.

7. Select couple(s) and click Remove selected couples if you wish to remove couple(s) from the
list.

8. To activate follow mode, click Toggle couple activation .

Each follower immediately assume the same posture as its leader and then mimics the leader's
movements. By default, this mode is not enabled.

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Motion Capure in Virtual Reality

9. To terminate follow mode, click Toggle couple activation again.

10. Click Close to exit the Follow the Leader dialog box. If activated, follow mode remains active.

Motion Capure in Virtual Reality

Vive Body Tracking

It is possible to use Process Simulate Virtual Reality together with third-party motion capture systems
such as Xsens, Vicon, etc. for whole-body tracking with the HTC Vive system. This can be useful to track
your own movements and apply the tracked postures to an avatar in real time in order to test immersive
clearance or reach, or perform an ergonomics investigation.

A low-cost alternative, known as Vive Body Tracking, which also eliminates the third-party motion capture
system, uses the existing HTC Vive trackers headset and hand controllers with the current Process Simulate
tracking algorithms, with the addition of six Vive pucks (small devices strapped to the live human,
available at Vive Accessories) for whole-body tracking. The pucks are attached to the live human at the
C7 vertebra, the pelvis, both elbows, and both feet. For detailed information, refer to Vive Body Tracking -
Hardware.

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 Vive Body Tracking

Note
When the system detects six active trackers, it removes the Flashlight command from the hand
controller

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Vive Body Tracking

and inserts the Vive Body Tracking command instead.

When performing Vive Body Tracking in a Virtual Reality collaboration session (with complete body
tracking hardware), it is possible for multiple tracked subjects to participate from any global location (but
not more than one in the same room). In the following example:

• Human model 1 is shown on the left in Process Simulate Motion Capture. The right view shows what the
live human can see in his headset when controlling human model 1 in Virtual Reality.
• Human model 2 is shown on the left in Process Simulate Motion Capture. The live human operating
human model 2 can also view the scene from her perspective in her Virtual Reality headset (not
illustrated).

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 Vive Body Tracking - Hardware Requirements

The two human models can interact in Virtual Reality even though the live humans operating them are at
different geographical locations.

Vive Body Tracking - Hardware Requirements

HTC Vive Pro Virtual Reality System

• Two Controllers

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Vive Body Tracking - Hardware Requirements

• Six HTC Vive Trackers - "pucks" (model #99HANL002-00)

• Two VR tracker belts (for waist and upper torso) and four straps (for elbows and feet) to mount HTC Vive
Trackers on the subject

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 Vive Body Tracking - Hardware Requirements

The belt can be used as a sling to mount the upper torso tracker.

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Vive Body Tracking - Hardware Requirements

The belt can be used as a necklace on which to mount the upper torso tracker.

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 Vive Body Tracking - Hardware Requirements

• Optional - USB-3.0 hub extender: Each HTC Vive Tracker requires a USB dongle to be plugged into a
USB-3.0 port. If you do not have enough USB-3.0 ports on your computer, use a USB-3.0 hub.

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Before Running Vive Body Tracking

• Two cameras (known as light houses) to cover the capture region

Before Running Vive Body Tracking

Procedure

1. Power up the headset.

2. Launch the SteamVR application.
3. Power up the controllers and trackers wait for them to be paired.

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 Note
If there are more than six trackers in your system, the first six are used.

4. By default, the HTC Vive Tracker setting Tracker Role is set to Held in hand and Hand is set Any
hand. All six trackers must have the same settings. To verify this, access the SteamVR menu and click
Settings. In SteamVR Settings, click on the Controllers, and select Manage Vive trackers to view
the Vive Tracker settings. The Process Simulate Virtual Reality application automatically detects the
tracker role for each tracker.

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 Run Vive Body Tracking

Run Vive Body Tracking

Procedure

1. In Virtual Reality, click Vive Body Tracking on the hand controller.

The system displays a ray, enabling you to select a human model.

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 If all six pucks are not active, the system issues an error message: Can't Initialize Trackers - See Log.

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 2. Wait (the live human should wait) for about five seconds in a neutral position while the system
performs calibration.

During this period, the outline of the human model's head is visible in the Virtual Reality application.

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 When calibration ends, the outline disappears. You now view in the Virtual Reality application exactly what
the human model can see in Process Simulate. All the motions you make (the live human) are tracked by
the human model in the Virtual Reality application and simulated in Process Simulate.

The hand controller enables you to pause and resume tracking, record, end recording by the Posture
Recorder, and terminate Vive Body Tracking.

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 Vive Body Tracking with Live Hands

Note
The Posture Recorder saves simulations under the current operation. Before recording a Vive Body
Tracking session, you may wish to select a compound operation and set it as the current operation.

In the following figure, the Process Simulate Virtual Reality application is shown on the right. The human
model in Virtual Reality tracks the motions of the live human (wearing the pucks) while displaying the
human model's field of vision. On the left, Process Simulate displays the scene and converts the motion to
a simulation.

Vive Body Tracking with Live Hands

If you have activated Live Hands before launching Vive Body Tracking, the Virtual Reality application
displays a complete human model and not just the live hands. The model's hands are superimposed on top
of the live hands, and the latter are blanked. In this mode of operation, the human model can interact with
objects in Process Simulate. For example, the model can pick up objects, move them, and place them at
the new location.

If you have launched the Posture Recorder via Vive Body Tracking, the recorder converts all picking up of
objects by the human model into Get actions, putting down of objects into Put actions, all teleporting into
Go actions, and creates Regrasp actions as necessary.

• Go actions created by the Posture Recorder do not take into account any change in elevation.

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Grasp and regrasp objects in Vive Body Tracking with Live Hands

• Running Vive Body Tracking with Live Hands requires a large amount of computing resources.
Therefore, it is possible that even if the human model is close to an object specified in the Live Hands
dialog box, it will be unable to interact with the object, as Process Simulate lags behind the Virtual
Reality application. If necessary, you can minimize the Graphic Viewer to reduce the latency.

Grasp and regrasp objects in Vive Body Tracking with Live Hands

While immersed in Virtual Reality, you can grasp objects. If you wish to change or improve your grasp on
an object, you can release it and regrasp it differently.

Procedure

1. Grasp a nearby object by pressing the trigger on the controller.

2. Release the trigger to let go of the object.If VR Physics is activated, the object falls to the floor.
3. If you need to adjust your grasp, for example to get a firmer hold on the object, touch the touchpad
with your thumb as you continue to hold the trigger.
The hand enters regrasp mode:
• The object is temporarily released and remains in position even if VR Physics is activated. The
object does not fall to the floor.
• As you move the hand along the edge of the object, the fingers repeatedly regrasp the object.
4. When you are satisfied with the new grasp, remove your thumb from the touchpad.The new grasp is
finalized and the object is attached to the hand.

Set Active Model

Whenever a new human model is created or inserted, it automatically becomes the default active model.
This means that human commands (for example Walk Creator and Grasp Wizard) automatically reference
this model, unless a different model is specifically selected.

Note
• If no human model is selected but you have used the Set Active Model command to activate a
human model, all human commands operate on the active human model.
• Load time is reduced when fewer human models are active.

• To set the active model, choose Human tab → Active Human group → Set Active Model and select the
desired human model from the dropdown list.
All commands now refer to the model you have now set as the active model.

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 Human Events

Note
• You can only run commands on activated human models.
• Deactivated human models are listed with an asterisk.
• This command has no effect on commands such as Man Jog that require the selection of a body part
rather than the human model as a whole.

Human Events

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Adding Human Events

Adding Human Events

The Human Events option is available when you right-click a compound or human compound operation.

You can add human events to an existing human operation. The Human Events option enables you to add
grasp events, and define the necessary input parameters for the analysis.

Grasp Events

The Grasp Event option enables you to add human grasp events to operations. To enable a human model
to move objects within a simulation, you have to work with grasp events. They specify a time during
an operation where grasping or releasing should take place. You can define the following type of grasp
events:

• Follow: A follow grasp event causes a human effector to move when an object is moved but not vice
versa, meaning the object will not move when the human model moves. For example, if a manipulator
is moving, the human model keeps its hands at the handles and follows the movements of the
manipulator. However, the human model's movements do not cause the manipulator to move.

Note
If the human model is set to follow a kinematic device, you must set the human model to follow
the moving link (not the kinematic parent component). However, depending on how this link was
created, the human model may not follow as expected. In this case, create a frame on the grasp
location, attach the frame to the kinematic link, and set the human model to follow this frame (rather
than the kinematic link).

• Grasp: A grasp event attaches a human effector to a component during an operation. This event enables
a model to pick up a component, such as a tool, in order to perform a specific task.
• Mutual Grasp: A mutual grasp event causes a human effector to move when an object is moved and
vice versa, meaning the object will also move when the human moves.
• Release: A release event detaches a human effector from a component during an operation. The
effector must have been attached by a grasp event. The release event enables a model to release a
component, such as a tool, after performing a specific task.

Note
You can detach an object interactively using the Release Object command. This may help for the
teaching process but the detaching is not saved for simulation use.

For more information, refer to Grasp functionality.

1. In the Gantt Chart area of the Sequence Editor, right-click the required operation, and select Human
Event.
The New Human Event dialog box is displayed with the name of the selected operation in its title
bar, and the Grasp tab open.

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 Grasp Events

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Grasp Events

2. If the name of the human model you want to perform the defined grasps is not displayed, click in the
Human Model field, and then select the human model from the dropdown list, or from the Graphic
Viewer. The name of the selected model is displayed in the Human Model field.

Note
By default, the New Human Event dialog box opens with the name of any selected human model
displayed.

3. A list of the grasp information entries currently included in the selected operation are displayed in the
Grasp Information list.
Click Add.
The Add Grasp dialog box is displayed.

4. From the Effector dropdown list, select the effector to grasp or release several objects.
The following effectors are available: Both Hands, Vision, Left Hand, Left Leg, Right Hand, Right
Leg, and Pelvis. The effector Both Hands combines the left hand and the right hand effector to ease
the handling for the human model but creates separate entries in the Grasp Information list. The
effector Pelvis in combination with the Allow Walk results in the human model walking along a
moving object. This can be combined with reach/grasp operations to allow the human model to work
while walking.
5. From the Mode dropdown list, select a grasp mode.
The following grasping modes are available: Follow, Attach, Mutual Grasp and Release. These
grasping modes are described in Grasp functionality.

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 Grasp Events

Note
When setting the human model to follow a moving kinematic link, simulation results may be
different than expected. In this case, try selecting a child entity of the link. See Graphic Viewer for
information about setting Entity (or Component) pick level.

Note
Selecting Vision in the Effector dropdown list causes the human to follow the selected object with
his vision while the object is moving. Therefore the Attach and the Mutual Grasp modes are not
available.

6. From the Constraint dropdown list, select the motion constraints for the grasp.
The following options are available: Match Position Only, Match Pos. and Z-Axis and Match
exactly. The constraints are stored in the event and affect the behavior of how the human will
follow an object during the simulation.
7. In the Objects list, add objects by selecting them in the Graphic Viewer or Object Viewer.
It is possible to grasp several objects (components, but not entities) and follow at least one object
with every effector (right/left hand/foot and vision) at a time. In the case of a kinematic device, it
is possible to follow entities (unidirectional), but not to grasp them. When the user grasps such an
object, the grasp is automatically a follow grasp.
8. Click OK to confirm the added objects to be grasped.
The values set in the dialog box are added to the Grasp Information list. Valid grasps are marked
with a green and grasps which interfere with other grasps are marked with a red .

Note
You can select a line of the Grasp Information list and click Delete to remove it or click Delete All
to clear the entire Grasp Information list.

9. Click to enable the Allow Walking checkbox - the human model now follows an object automatically
(without the need to create a separate walk operation).

Note
You can use the Place Object dialog box to set this option by default.

10. In the Loads area, check Auto, Retrieve Loads From Annotated Objects.
The system displays the weight and forces you configured for the selected Object held by the human
model (configured in Assign weight to objects). The object weight is automatically selected for
consideration; check which forces are also to be taken into consideration.

Note
You can change the selection in Object to be any object.

or

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Configuring loads and weights for a human event

Check Manual and configure a weight for the load held by the human model. You can also click
Define Load to access Loads and Weights for the human model.
11. If you wish to configure Motion Constraints, check Apply and check the body parts whose posture
you wish to constrain.
These body parts remain in their current locations.
12. In the Start Time fields, specify the time of the event.
Select the time in seconds that you want the object to be attached/released in the operation, and
then select Before/After the Start/End of the operation to qualify the parameters of the specified time.

Note
The default start time corresponds to the point in the operation where you performed a right-click.

13. Click OK.

The human grasp/release event, indicated by a red marker on the operation in the Gantt chart , is
added to the selected operation at the time specified.
When the selected operation is run, the selected human model will grasp/release the selected object
at the specified time in the operation. The object will move in conjunction with the selected hand
until released.

Configuring loads and weights for a human event

The Define Load option enables you to specify the loads and weights affecting the simulation in a very
detailed manner. It also can display the forces exerted on specified body parts. This is useful for human
performance analysis, such as low back injury risk assessment or static strength analysis.

When using the Define Load option, you define the posture of the model when supporting the load and
the load and its position or vector.

1. Click Define Load in the Ergonomics tab of the Edit Human Event dialog box to display the
following:

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 Configuring loads and weights for a human event

2. From the Force Distribution Strategy dropdown list, select the posture in which the human will be
supporting the loads and weights to be analyzed. Available options include:

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Configuring loads and weights for a human event

• Keep Existing: The Human Event determines the model posture. This is the default setting.
• Two Feet: The model is standing on both feet.
• Right Foot: The model is standing on only the right foot.
• Left Foot: The model is standing on only the left foot.
• Walking: The model is walking. This option should be selected for the following scenarios:
◦ Walking with both feet on the ground.
◦ Walking with only the right foot on the ground.
◦ Walking with only the left foot on the ground.
• Sitting: The model is seated with the feet supported.
• Sitting, No Feet: The model is seated with the feet unsupported. For example, the legs are
dangling.

Note
If the selected Force Distribution Strategy does not match the model's actual posture, unexpected
results may occur.

3. To clear any loads saved with the model before applying the loads defined in the event, select the
Clear Existing Loads checkbox.
4. Click Add in the Loads and Weights section of the dialog box to add loads and weights to analyze.
The Add load - Jack dialog box is displayed.

5. From the Site dropdown lists, select a body part and the site on the selected body part on which the
load will be placed or the force exerted.

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 Configuring loads and weights for a human event

When a body part is selected, all sites on the selected body part are displayed in the second
dropdown list.
6. From Type, select either Force or Weight and set the magnitude of the force in N or the mass of the
load in kg.
7. Set the Direction of the load/force in one of the following ways:
• Enter the direction vector by setting values in the X, Y, and Z fields.
• Click one of the direction icons to use a preset value.

• Click the vector icon .

The load/force is interactively displayed in the Graphic Viewer with a yellow arrow. The icon
remains pressed and a Placement Manipulator appears at a location along the vector. Manipulate
the direction of the vector by dragging the Placement Manipulator.

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Configuring loads and weights for a human event

Note
The magnitude is not modified by changing the vector.

The load vectors displayed in the Graphic Viewer do not indicate the real magnitude along each
vector.
8. You can delete a force or weight by selecting it and pressing <Delete>.
9. Specify a simple load by entering the mass of the load in the Mass field.
The mass is expressed in kilograms.
10. A load vector can be defined as Global or Local. A load vector is global if the direction of the load is
not modified by changing the location of the site on which the load is applied. A load vector is local if
the direction of the load changes when the location of the load changes.

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 Configuring loads and weights for a human event

In the following example, a 10 N load is applied to each palm center, with the load
on the right palm defined as a Local, and the load on the left palm defined as

Gl obal.
After applying a posture change, the left Global load maintains its orientation, while the right Local
load is updated because the force vector is “Local” to the hand:

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Configuring loads and weights for a human event

To specify that the load vector will change when the vector site is manipulated, select the Local
checkbox.
11. Click Apply.
The load is added to the Loads and Weights list in the Loads and Weights dialog box.
12. Add more loads as necessary.
13. To delete a load, select the load in the Loads and Weights list in the Loads and Weights dialog box
and press Delete.
The selected load is deleted from the list.
14. You can control the visibility of the configured loads.

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 Configuring loads and weights for a human event

To display a load in the Graphic Viewer, select the checkbox next to the load in the Loads and Weights
list in the Loads and Weights dialog box.
To hide a load in the Graphic Viewer, clear the checkbox next to the load in the Loads and Weights list
in the Loads and Weights dialog box.
15. Click Apply.
The load is added to the Loads and Weights list in the Loads and Weights dialog box.
• You can control the visibility of the forces on the listed joints. To display the force on a joint in the
Graphic Viewer, select the checkbox next to the joint in the Forces list in the Loads and Weights
dialog box. To hide the force on a joint in the Graphic Viewer, clear the checkbox next to the force
in the Forces list in the Loads and Weights dialog box.
The Graphic Viewer shows the currently calculated forces and moments applied to the selected
joints. Moments are displayed as yellow arrows, with their magnitudes in yellow text. Forces are
displayed as red arrows, with their magnitudes in red text.

All load, weights, and gravity data is saved with the model. The joints to display data is not saved.

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Anthropometric Databases

16. To close the Loads and Weights dialog box, click OK.
The defined load is added to the Human Event.

Anthropometric Databases
Human models can be based on the following Anthropometric databases:

• ANSUR — The 1988 U.S. Army Anthropometry survey is one of the most widely used anthropometry
databases because of the large number of measures. The population includes data from about 4,000
male and female subjects, both active soldiers and clerical staff.
• ANSUR II — Anthropometric survey of US army personnel (2012)
• ASIAN_INDIAN_NID97 — Indian Anthropometric Dimensions for Ergonomic Design Practice,
Ahmedabad, National Institute of Design, 1997. Anthropometric data representing Asian and Indian
populations.
• CANLF97 — The Canadian Land Forces anthropometry database is based on a 1997 survey of Canadian
Land Forces personnel.
• CHINESE — Anthropometric data representing Chinese adults aged 18-60 (males) and 18-55 (females),
based on GB 10000-88, 1989.
• GERMAN — DIN 33402: German Industry Standard, March 2008. Anthropometric data representing the
German population.
• JAPANESE_2006
◦ International Standard: ISO7250–1 (2008). Basic human body measurements for technological
design, Part 1: Body measurement definitions and landmarks.
◦ Technical Report: ISO/TR 7250–2 (2010). Basic human body measurements for technological design,
Part 2: Statistical summaries of body measurements from individual ISO populations.
• KOREAN
◦ International Standard: ISO7250–1 (2008). Basic human body measurements for technological
design, Part 1: Body measurement definitions and landmarks.
◦ Technical Report: ISO/TR 7250–2 (2010). Basic human body measurements for technological design,
Part 2: Statistical summaries of body measurements from individual ISO populations.
• MEXICAN JALISCO — Dimensiones anthropometricas, Poblacion Latinoamericana, Universidad de
Guadalajara, by Chaurand, Prado-Leon, Gonzalez-Munoz, Data from 1993-1999 (Ages 18-65).
• NA_Auto — The North American Automotive anthropometry database is based on 2006-2007 data of
approximately 50,000 North American automotive assembly plant workers.
• NHANES — The National Health and Nutrition Examination Survey III contains the data of approximately
32,000 residents of the United States, representative of the US Population as of 1990.
• NHANES 2011-2014 — Anthropometric data from the National Health and Nutrition Examination
Survey.

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 Time assessment

In addition, models can have a Smoothskin, Segmented, Basic (unclothed), or Clothed appearance. The
skin updates dynamically as the model is manipulated providing a good appearance. The smooth skin
figures have the same internal skeleton representation as the older Jack figures, but instead of being
composed of separate rigid geometry sections for each segment of the figure, the surface is represented
as a single deformable mesh. This mesh updates in real-time as the figure is manipulated. Compared with
the older style figures, a slight decrease in performance is expected with the continuous updating of the
mesh, so they may not be suitable for use in frame rate sensitive applications, such as immersive VR or
a simulation with many models. However, it is preferable to use these figures whenever a high degree of
visual realism is desired.

Time assessment

Human operation times

The Time Assessment option enables you to adjust the duration of a human operation automatically
according to the distance detected during a simulation run.

Calculate Operation Durations

After running the simulation, choose Calculate Operation Durations to adjust the duration of each
human operation according to any changes in the distances between objects in the simulation. For
example, if the human model needs to walk twice as far to reach a particular part, this command doubles
the duration of the walk operation in order to properly synchronize the simulation.

This command is not used for operations that have been assigned time codes.

Verify Time Assessment

The Verify Time Assessment command generates a report that indicates whether the correct time codes
have been assigned to a set of human operations. . The Time Code Report that it generates enables you to
check multiple operations without having to open the data cards for each one individually.

Procedure

1. Select the root operation from the Object Viewer.

2. Choose Verify Time Assessment group to display the following:

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Additional human commands (not on the ribbon)

The Time Code Report window contains a table that indicates whether the correct time codes have
been selected for each human operation, as follows:
• Green: The time code is a good match for the selected operation.
• Red: The time code is not a good match for the selected operation.
• Dark Yellow: The system does not know the distance required by the operation. Run the
simulation and then check again.
• Gray: Distance is not a relevant factor for this time code, for example, a time code that measures
the processing time of a machine.
• Black: No operations are currently assigned to the time codes.

3. Click Close to close the Time Code Report window.

Additional human commands (not on the ribbon)

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 Human commands not on the ribbon

Human commands not on the ribbon

Additional human commands not found in the Human tab of the ribbon can be added via the Customize
command, including:

• Joint Limitation Library

• Jack Collaboration
• Release Object
• Assign Human Model

Human Joint Sets

Joint Limitation Library

The Joint Limitation Library option enables you to select a joint set that places limits on the mobility of
human models. These limits represent the varying flexibility and physical abilities of different people. For
example, one joint set might represent the flexibility of an average person, while a different joint set can
be used to represent people with very limited flexibility. No default joint sets are provided. You must create
a joint set before using this feature, see Create Joint Set.

1. Select Joint Limitation Library or click to display the following:

2. Select a joint set from the list displayed and click Reset to reset the state of the dialog box to as it was
when initially opened.

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Create a Joint Set

Note
The location of the joint set library is defined in the Library Directories tab of the Human Options dialog
box.

Create a Joint Set

You can define a joint set that limits the flexibility of individual joints, by defining minimum and maximum
limits on its movement.

Procedure

1. In the Joint Limitations Library dialog box, click the down arrow to expand the dialog box as follows:

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 2. From the List of Joints dropdown list, select the body part whose joints you want to manipulate. The
joints belonging to the select body part are displayed below the dropdown list.
3. (Optional) Select the Symmetric checkbox to have any changes in joint limits affect symmetrical
joints equally, for example, both the left and right hip.

4. Select a joint from the list and click , or double click the joint, to display the Reduce Joints Limits
dialog box.

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Edit a Joint Set

5. Enter new minimum and maximum limits for the joint, or use the slide bars to define new limits.

Note
In the Graphic Viewer, the selected joint moves as you adjust the slide bars.

6. Click OK. The new joint values are saved. An asterisk is displayed next to the name of the currently
active joint set to indicate that the set has been modified.
7. Save the joint set. For information, see Save a Joint Set.

Edit a Joint Set

The flexibility of individual joints defined in a joint set may be reduced, if required, by defining new
minimum and maximum limits on its movement.

Procedure

1. In the Joint Limitations Library dialog box, click the down arrow to expand the dialog box.
2. Select a joint set from the Joint Set Library.
3. From the List of Joints dropdown list, select the body part whose joints you want to manipulate. The
joints belonging to the select body part are displayed below the dropdown list.
4. (Optional) Select the Symmetric checkbox to have any changes in joint limits affect symmetrical
joints equally, for example, both the left and right hip.

5. Select a joint from the list and click , or double click the joint, to display the Reduce Joints Limits
dialog box.

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 Save a Joint Set

6. Enter new minimum and maximum limits for the joint, or use the slide bars to define new limits.

Note
In the Graphic Viewer, the selected joint moves as you adjust the slide bars.

7. Click OK. The new joint values are saved. An asterisk is displayed next to the name of the currently
active joint set to indicate that the set has been modified.

Save a Joint Set

When a joint set is created or changes have been made to the joint limitation values in a joint set, you
must save those changes as a new joint set.

Procedure

1. Modify the joint limitation values in the currently selected joint set, as described in Edit Joint Set.

2. In the lower half of the Joint Limitations Library dialog box, click .
The Save Current Joint Set dialog box is displayed.

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Delete a Joint Set

3. Enter a name for the new joint set in the field provided and click OK. The new joint set is displayed in
the Joints Set Library list in the upper half of the Joint Limitations Library dialog box.

Delete a Joint Set

Joint sets that have been added to the Joint Limitations Library dialog box can be deleted as required.

Procedure

1. In the Joint Limitation Library dialog box, select a joint set from the Joint Set Library list.

2. Click . The selected joint set is deleted from the library.

Jack Collaboration

The Jack Collaboration option enables the motion of a Jack model on one machine to be transferred to
a Jack model on a second machine. It does not matter in which application (Process Simulate/eMEngineer/
Classic Jack) each of these Jack models are running.

Jack Collaboration works using a server-client paradigm. One machine must be designated as a
collaboration server. Machines designated as collaboration clients can connect to a collaboration server.

All Jack Collaboration actions, including designating a machine as a server or client, are performed using
the Jack Collaboration dialog box.

Choose Jack Collaboration to display the following:

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 To designate the machine as a collaboration server and start the service:

Procedure

1. Select the Server option. The Connect button changes to Start Server.
2. In the Port field, enter a port number for the service.

Note
The default port number appears in the Port field. There is no need to change the port number.

3. Click Start Server. The machine acts as a collaboration server.

To designate the machine as a collaboration client and connect to a server:

Procedure

1. Select the Client option.

2. In the Server field, enter the name of the server machine.

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 Note
If you are running multiple applications on the same machine, you can set the server name to
localhost.

3. In the Port field, enter a port number for the service.

Note
The default port number appears in the Port field. There is no need to change the port number.

4. Click Connect. The machine connects to a collaboration server.

To copy the motion of a Jack model from a remote machine:

Add a Jack model with the same name as that of a Jack model that was configured on the server
to be controlled locally. The named local Jack model is controlled by the remote machine Jack model
configuration. When the Jack model on the remote machine is manipulated, the location and posture
information is updated in the local scene.

To control the motion of a remote Jack model from the local machine:

Procedure

1. Ensure that the remote and local Jack models have the same name and are based on the same figure
definition.

Note
The name of either the local or remote Jack model can be changed.

2. Add the figure on the remote machine to the Locally Controlled list. The named remote Jack model is
controlled by the local machine Jack model configuration.

To release a Jack model from collaboration:

Remove the Jack model from the appropriate list.

To disconnect the Jack collaboration server or client:

Click Disconnect.

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 Release Object

Release Object

The Release Object option automatically deactivates a virtual link between a human effector and an
object, for example, a connection that has been defined in the Grasp Wizard dialog box.

To release an Object:

You can remove the link or connection interactively between an object and a human model by selecting
the object or the human, either in the Graphic Viewer or Object Viewer, and choosing Release Object.
The connection or link is removed, and the object and human model now move independently of each
other. This release action is useful in the teaching process, but the detaching is not saved and will not be
viewed in the simulation.

Assign human models

The Assign Human Model option enables you to assign a human model to a human compound as well
as to a selected sequence, including all the human operations and the human events included in the
sequence.

When assigning a human model to a human compound operation, you can use a new model to perform
the same operation as an old model, without the need to teach the same movements again.

Assign a human model to a human compound operation

Procedure

1. Select a human compound operation in the Object Viewer to which you want to assign a human
model.
2. Choose Assign Human Model.
or
Right-click the operation and select Edit Operation.
The Operation Properties dialog box is displayed, with the name of the compound operation:

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Assign human models to sequences

The name of the robot assigned to the selected compound operation is displayed in the Assigned to
(Human Model) field.
3. Select a new model from the Graphic Viewer or the Object Viewer.

Note
When selecting a human model in the Graphic Viewer, ensure that you are in component mode,
otherwise you can select only an entity or the whole cell group.

4. Edit the fields, as required.

5. Click OK.

Assign human models to sequences

Procedure

1. Select a sequence in the Object Viewer to which you want to assign a human model.
2. Choose Assign Human Model.
The Multi Task Assign dialog box is displayed.

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 Assign human models to sequences

3. Select a human model in the Graphic Viewer or Object Viewer.

Note
If all the human operations and events in the selected sequence belong to the same human model,
the name of that human model is displayed automatically in the Human Model field. However, if
the operations and events in the selected sequence do not belong to the same human model, but
rather to several human models, the Human Model field remains blank.

4. Click OK.
The Confirm Multi Assign dialog box is displayed with a list of the operation names and events
included in the selected sequence to be reassigned:

Note
You can scroll through the list and see which human models were assigned previously.

5. Click OK to confirm the reassignment. The operations and events in the selected sequence are
reassigned to the selected human model.

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Assign human models to sequences

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 More commands

14. Additional commands (not on the ribbons)

More commands
This section lists useful commands that do not appear on the ribbon. You can access them through the
Customize command and add their icons to the ribbon for fast access in the future.

Add NX human
You can import Jack Human models from the NX application. These are stored in JKH files containing
anthropometry, posture and location information.

Choose Import NX Human and navigate to the desired file.

Note
Only v11 human models can be imported using JKH files.

Connect to robot

The Connect to robot command enables you to link the activity of physical Universal Robots - URs - with a
virtual assembly environment in Process Simulate to quickly and accurately program the UR’s actions. The
Graphic Viewer displays a virtual robot that is the digital twin of the physical robot. Once the connection
is activated, every motion that you cause the physical robot to make is imitated by its twin on your
computer.

With the physical robot in an empty area, you can build a virtual environment around its twin in Process
Simulate, populated with other virtual resources and objects, such as robots, tools, and parts. Then you
can program the moves and tasks of the physical robot by manipulating it in its empty space and seeing
the interactions of its twin with other objects in the virtual space. This enables you to perform collision
detection, reach testing, and to program the robot before building the physical environment.

The command also provides a rapid way to program UR robots for several assembly cells even when each
robot (of the same model) will be used differently in each cell, by setting up virtual environments and
digital twins for each one.

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 To establish communication with UV robots:

To establish communication with UV robots:

Procedure

1. Connect a network cable between the robot controller and your computer.
2. Open Network Connections and access the network properties.

3. Select Internet Protocol Version 4 (TCP/IPv4) and click Properties.

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To connect to a robot:

4. To ensure that the robot and the computer are both located on the same network, select Use the
following IP address, set IP address to the IP address of the robot, and change the last octet to any
value except that of the robot. For example, if the robot's IP address is 196.168.1.100, set IP address
to 196.168.1.1 or 196.168.1.2.Also, set the Subnet mask as shown.
5. Click OK to save the configuration.

To connect to a robot:

Process Simulate

Procedure

1. Pick a robot.
2. Choose Connect to robot. The Robot, Robot Type, and Controler Version fields are automatically
populated with the parameters of the specified robot.

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 If you did not pick a robot before launching the command, you can pick one now.
3. Enter the Robot IP address.
4. Click Connect. The Connection Succeeded message is displayed in green.

After the connection has been established, Live Mode is displayed in red in the top left corner of the
Graphic Viewer.

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 You can close the Connect to robot dialog box.
5. To begin robot tracking, click Live Mode - it turns green.

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 Create 3D Documentation

As you move the physical robot, its movements are replicated by its digital twin in Process Simulate.
6. Click Live Mode again to pause robot tracking.

7. To end the robot tracking session, click Connect to robot to disconnect Process Simulate from
the physical robot.

Create 3D Documentation

Process Simulate enables you to create interactive 3D data for documentation reports. A TCM 3DPDF
Documentation license is required.

After selecting processes and operations on which to report, the system generates a data set containing
files for the graphic scene, snapshots, and simulation. After running Teamcenter Update, you can access
the relevant dataset and generate a 3DPDF report showing the scene in 3D. The report contains snapshots
you view and manipulate in 3D and enables you to run simulations. The dataset contains the following
files, named after the source process:

• PRC — Contains the graphic scene.

• XML — Contains snapshots of the source process.

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 • JS — Contains simulations/animations of the source process.
• Nodes.xml — Contains a list of the nodes of the source process.

To generate 3D data:

Procedure

1. Select a process or operation in the Operation Tree.

2. Click Create 3D Documentation or .

The Create 3D documentation dialog box appears.

The Available Process Elements area on the left displays the Process Tree listing all the available
processes and operations nested under the selected operation. Your report will be comprised of steps
corresponding to the operations you choose to include.
3. Add processes and operations to the Steps to Create list on the right, in the following ways:

• Click to add all the items in the Process Tree to the Steps to Create list.
or
Click the arrow in the button and select a hierarchical level.

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 The system adds all the items at the selected level to the Steps to Create list.

• Select an item in the Process Tree and click to add it to the Steps to Create list.

• Select an item in the Steps to Create list and click to remove it.

• If you are not satisfied with your Steps to Create list, click to remove all the items from the
Steps to Create list and start building the list again.

Note
The order of the processes and operations derives from their order in the Sequence Editor. If
no simulation is defined, the order of the processes and operations derives from their Find No
attribute in Teamcenter.

4. In the View column of the Steps to Create list, click the arrow for each item and select a snapshot to
display when you examine that step in the 3D report.
5. Click Settings.
The Settings dialog box appears.

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 6. Configure the following settings:

Setting Description
Included Enables you to select which data is included in the file. Select one of the following:
Data
• PMIs: All PMIs that fulfill the conditions in the Included Objects group are
exported.

Note
PMIs that are not loaded are not exported under any circumstances.

• Simulations: The export file includes a simulation for each operation selected in
the Create 3D documentation dialog box.
Included Enables you to select which snapshots are included in the export file.
Snapshots
Note
All snapshots created for use in 3D documentation must be taken in Perspective
mode only.

Select one of the following:

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 Setting Description
• Only snapshots assigned to operations: Only the current snapshot and
snapshots that are assigned to steps in the Create 3D documentation dialog
box are exported.
• All snapshots: All the snapshots are exported — even if not assigned to an
operation.
Included Enables you to select which objects are included in the export file. Select one of the
Objects following:
• Only displayed objects: The file only includes the displayed objects, resulting in
smaller file size and improved performance.

Note
Verify that the scene includes all the information required before executing the
command.

• Only objects included in snapshots and simulation: The file includes all the
objects in the exported snapshots or simulation.
• All loaded objects: The file includes both of the above and may be large.
Level of Sets the level of detail for graphical objects when performing the export. The
Details possible values are:
• High (detailed mesh) — Best quality file with high fidelity of geometric
representation.
• Medium — The default value.
• Low (small file size) — Low quality file with high performance.
If your file reacts too slowly in Acrobat, set Level of Details to Low (small file size).

Note
When generating 3D documents for large sets of data, this function may use large amounts of
computer memory. Therefore, configure the operating system to enable single processes to use up
to 3 GB of RAM memory (or 4 GB if installing the 32-bit client on a 64-bit platform) or work with a
64—bit installation.

7. Click Generate. The system runs and records all the operations in the Steps to Create list, gathers all
the required data, and saves the output files. When the operation is complete, the system reports 3D
documentation generation finished successfully.
8. Run Teamcenter Update and select the Process option.
9. In Teamcenter, run Tools → Generate 3D PDF Report to generate the PDF report.

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 Note
• In Teamcenter, you can identify the data set containing 3D documentation information by the
following attributes: Type = PDF Report Inputs and Relation = PDF Report Inputs Relation.
• The dataset is created on the process selected when launching the command.
• If 3D data already exists for the process, the system prompts you before overwriting it.

• If you have made changes in Teamcenter which affect a particular 3D report, return to Process
Simulate, generate your 3D documentation files again, update Teamcenter, and only then regenerate
your 3D report in Teamcenter.

Create human start signals

The Create human start signals command creates start signals for human commands that support end
signals (end signals are automatically created when the operation is created). It acts on human TSB
operations and tasks, and compound human operations. This enables running human operations in line
simulation mode.

The command is enabled after loading a study if:

• No selection had been made. In this case, the command creates start signals for all the human
operations in the study that have end signals or support end signals. It does not create start signals
for human actions as these do not support end signals.

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 • After making a valid selection. This includes selecting one or more human models, one or more human
operations, or any combination of these. In this case, the command creates start signals for all the
operations connected to the human models and the selected operations.

The command remains disabled if you have made an invalid selection, for example, a human operation
that does not support an end signal, a device, or a human operation that does support an end signal (valid
if selected alone) plus a human operation that does not support an end signal (an invalid selection).

Note
If appearances are created when running human operations in line simulation mode, the system issues
a warning message. You can acknowledge the warning and proceed with the simulation.

To create start signals for human operations:

Procedure

1. Select human models, human operations, or a combination of these.

2. Choose Create human start signals.

After selecting a human model, the Create human start signals command creates start signals for the
human operations assigned to it.

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Create robot with two or more arms

After selecting a human operation, the Create human start signals command creates start signals for that
operation and all others nested under it.

Note
Human actions, for example, Grasp and Reach, do not support end signals, therefore, the Create human
start signals command does not create start signals for these.

Create robot with two or more arms

For complex tasks, sometimes you need to use multi-arm robots. It is also possible to group multiple robots
under an equipment node and simulate them as a multi-armed robot. For the parent equipment to be
recognized by Process Simulate as a kinematic robot, it must have the following minimum configuration:
Two links, one joint, a toolframe, a baseframe, and at least two nested robots.

Note
As long as the parent contains these items, the exact details are not important, as their only purpose is
to cause Process Simulate to recognize the equipment as a robot.

Procedure

1. Create the parent equipment for a multi-armed robot:

a. In Teamcenter MPP, create a Resource Type, for example, Equipment.

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 b. Nest at least one robot under Equipment.

c. Send the study containing the equipment to Process Simulate.

d. Select the equipment and run Set modeling scope.

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 2. To configure kinematics, select the new equipment, choose Modeling tab → Kinematic Device

group → Kinematics Editor , and proceed as follows:

a. Create at least two links.
b. Create a joint between two links.
c. Create a baseframe.
d. Create a toolframe.

3. Add at least two robots to the equipment in one of the following ways.
• Drag robots already existing in Process Simulate and nest them under the equipment.
• Insert robots as follows:
a. Use the New object command to insert robots.

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 b. Set JT files for the robots.

The multi-arm robot appears as follows:

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 4. Run End modeling.
5. Run Teamcenter Update.

Note
You can nest additional equipment nodes under the top-level equipment and you can nest robots at any
level in the equipment hierarchy.

Device control group

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 Control groups of resource devices

Control groups of resource devices

The following Device Control Group commands enable you to create groups of resource devices, add
resources to groups, edit pose groups, remove resources from groups, or ungroup resources.

Icon Tool Name Description

Create Device Group The Create Device Group
option enables you to group
multiple resource devices that
share common components or
functions, such as the same valve
or function behavior element ,
into a single control group. Refer
to Create Device Group.
Copy Device Control Group The Copy Device Control Group
Logic Logic option enables you to copy
the logic of a selected control
group to other control groups.
Refer to Copy Device Control
Group Logic.
Add To Group The Add to Group option enables
you to add resource devices to
an existing device group. By
grouping the devices together in
a control group, you can indicate
that they are operated together.
Refer to Add to Group.
Remove From Group The Remove from Group option
enables you to remove a single
resource device from a control
group in the Object Viewer
without assigning the device to
a different control group. Refer to
Remove from Group.
Ungroup Devices The Ungroup Devices option
enables you to ungroup a
set of devices that were
grouped together in a control
group, thereby deleting that
control group. Refer to Ungroup
Devices.
Edit Pose Groups The Edit Pose Groups option
enables you to create, delete, or
modify common pose groups for

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Create Device Group

Icon Tool Name Description

a specific control group. Refer to
Configure New Pose Groups.

Create Device Group

The Create Device Group tool enables you to group multiple resource devices that share common
components or functions, such as the same valve or function block, into a single control group. By
grouping the devices together in a control group, you can indicate that they are operated together. You can
also create an empty group to which resources can be added, as required.

Procedure

1. In the Object Viewer, select one or more resource devices that you want to include in the control
group.

Note
If the device you select is part of an existing control group, the Group Device option is disabled.
To include the device in a new control group, you must first remove it from its current group, as
described in Remove from Group.

2. Choose Create Device Group . A new control group containing the selected device is added to the
Object Viewer. Its default name is DeviceCG.
3. Rename the new group, as required.
4. Add additional devices to the control group using the Add to Group tool, or drag and drop devices to
the group.

Copy Device Control Group Logic

The Copy Device Control Group Logic command enables you to copy the logic (including devices and
poses) of a selected Device Control Group to other Device Control Groups. For example, if you wish to
change the logic of multiple Device Control Groups, you can edit the first one and then copy its updated
logic to all the others.

Prior to applying the logic to the target Device Control Groups, the Copy Device Control Group Logic
command verifies whether the logic of the source and target Device Control Groups are compatible and

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 displays the results Status column. It also checks whether the target contains devices with the same
names as the those in the source.

The command marks each Device Control Group as either (successful), (partially successful), or
(failed). If, for example, the source does not contain all the group poses as one of the targets, then
the copy logic operation will result in deleting a group pose from the target. This is considered a partially
successful copy logic operation. If the target does not contain one of the devices or poses participating in
the source group, it is considered failed logic.

The command also offers these results in the Microsoft Excel spreadsheet format to facilitate your analysis.
This is called the Copy Device Group Logic Status Report.

After examining the results, you can decide which targets to include in the Copy Device Control Group
Logic operation and which to omit.

Procedure

1. Select a Device Control Group in the Object Viewer.

2. Choose Copy Device Control Group Logic .

The Copy Group Logic dialog box appears:

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 Note
If you had selected a Device Control Group prior to opening the Copy Group Logic dialog box, it is
preloaded in the Source Device Control Group field.

The Copy Group Logic dialog box toolbar contains the following tools:

Icon Description
Enables you to add a target Device Control
Group.

Enables you to remove a target Device Control

Group.
Enables you to verify whether the Copy Device
Control Group Logic operation will succeed. The
following icons are used in the Status column to
represent the logic compatibility:

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 Icon Description

• — Successful: Indicates that the operation

will succeed.

• — Partially Successful: Indicates that the

operation will partially succeed.

• — Failed: Indicates that the operation will

fail.
Enables you to select all the Device Control
Groups.

Note
Those Device Control Groups whose status is
failed, are not selected.

Enables you to select all the Device Control

Groups whose status is successful.

Enables you to deselect all the Device Control

Groups.

Enables you to run the Copy Device Control

Group Logic operation on the selected Device
Control Groups. This icon is only enabled after
you have verified that the Copy Device Control
Group Logic operation will succeed.

3. Select a Device Control Group in the Object Viewer and click to add it to the Target Device
Control Groups list.

4. Select a Device Control Group in the Target Device Control Groups list and click to remove it, if
necessary.

5. Click to populate the Status column.

Each Device Control Group in the Target Device Control Groups list is marked as succeed, partially
succeed, or fail.

Note
The checkbox of failed Device Control Groups is grayed out so that you cannot include them in the
Copy Device Control Group Logic operation. You are prompted to view the Copy Device Group Logic
Status Report for the Copy Device Control Group Logic operation. Click OK to view the report or
Cancel to skip this step.
If you click OK and Microsoft Excel is not installed on your computer, you receive an error message.

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 The following is an example of a Copy Device Group Logic Status Report:

The Copy Device Group Logic Status Report contains the following information:
• Study Name — The name of the study in which the Copy Device Control Group Logic operation is
performed.
• Source Device Group — The name of the source Device Control Group.
• Group Poses — The names of the group poses in the source Device Control Group.
• Target Device Group — The target for Copy Device Control Group Logic operation. This item lists
the names of the target Device Control Groups (to which the logic is copied).
• Copy Status — The compatibility between the source and target Device Control Groups for the
Copy Device Control Group Logic operation.
A target Device Control Group is valid only if it contains devices and poses of the same name as those
in the source. Only devices and poses that participate in the source group poses are considered; those
not participating in logical group poses are not relevant for the Copy Device Group Logic operation.
Possible values are:

• SUCCESSFUL — The source group poses will be copied to the target Device Control Group and
no target group poses will be deleted.

• PARTIALLY — The Copy Device Control Group Logic operation will cause the deletion of target
Device Control Group poses.

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 Add to Group

• FAILURE — The target Device Control Group is not valid.

• Additional Group Poses which will be Deleted — If the Copy Status is PARTIALLY, the group poses
that will be deleted are listed in this field. If a deleted group pose is referenced by a Device
Control Group operation (as source or target group pose), the names of the Device Control Group
operations that refer to it are also displayed in this field, for example, GroupPose5.
• Comment — If the Copy Status is FAILURE, the reason for the failure is listed in this field, for
example, missing devices or missing poses.
6. In the Copy column, check the Device Control Groups you wish to participate in the Copy Device

Control Group Logic operation. Use , , and to simplify this task.

7. Click to run the Copy Device Control Group Logic operation on the selected Device Control
Groups. When logic has been copied to a Device Control Group, that Device Control Group is grayed
out.
8. Click Close to close the Copy Group Logic dialog box.

Add to Group

The Add to Group tool enables you to add resource devices to an existing device group. By grouping the
devices together in a control group, you can indicate that they are operated together.

Procedure

1. In the Object Viewer, select the resource device you want to add to a control group.

2. Choose Add to Group .

The Device Group List dialog box appears, listing all the control groups that are available in the
current project.

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Remove from Group

3. Select the control group to which you want to add the resource device.
4. Click Add. The device is added to the selected control group in the Object Viewer.

Remove from Group

The Remove from Group tool enables you to remove a single resource device from a control group in the
Object Viewer without assigning the device to a different control group.

Procedure

1. In the Object Viewer, select the device that you want to remove from the control group.

2. Choose Remove from Group .

The device is removed from the group and listed under the project in the Object Viewer.

Note
You can also remove a device from a group by dragging and dropping it out of the group.

Ungroup Devices

The Ungroup Devices tool enables you to ungroup a set of devices that are grouped together in a control
group, thereby deleting that control group.

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 Procedure

1. In the Object Viewer, select the control group you want to ungroup.

2. Choose Ungroup Devices .The devices in the control group are ungrouped and are listed under
the project in the Object Viewer. The control group is deleted.

Edit Pose Groups

Configure New Pose Groups

The New pose group option appears in the Group Poses dialog box, and enables you to create new pose
groups for a specific control group.

Procedure

1. In the Object Viewer, select a control group for which you want to configure a new pose group.

2. Choose Edit Pose Groups .

The Group Poses dialog box appears, listing all the existing pose groups for the selected control
group.

3. Click New. The Group Pose List displays the new pose group. Its default name is PoseGroup#.
4. Select the new pose group and click Rename.
The Rename dialog box appears.

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 5. Enter a meaningful name for the pose group and click OK.

Note
A new output signal, named for the new pose, is added to the Displaying input/output signals in
studies. This signal replaces the output signals that were previously connected to each of the poses
included in the new group pose.

6. Select the pose group a second time and click .

The Group Poses dialog box expands, enabling you to manually define which poses are matched with
which pose group. The poses that are defined as part of the selected pose group are listed in the
Poses in Group list, while all poses associated with members of the control group that have yet to be
matched to a pose group are listed in the Poses not in Groups list.

7. Click Match by Name. This function locates poses with the same name that exist in all the devices of
the control group. For each such pose, the function creates a new pose group and names it after the
name of the pose it found.
8. Use the buttons to move poses from one list to the other, as appropriate.

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 Modify an Existing Pose Group

9. Click Close.

Modify an Existing Pose Group

The Edit Pose Groups option enables you to modify common pose groups for a specific control group.

Procedure

1. In the Object Viewer, select a control group for which you want to configure a new pose group.

2. Choose Edit Pose Groups .

The Group Poses dialog box appears, listing all the existing pose groups for the selected control
group.

3. From the Group Pose List, select the pose group that you want to modify and click .
The Group Poses dialog box expands, enabling you to manually define which poses are matched with
which pose group. The poses that are defined as part of the selected pose group are listed in the
Poses in Group list, while all poses associated with members of the control group that have yet to be
matched to a pose group are listed in the Poses not in Groups list.

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Delete a Pose Group

4. Use the buttons to move poses from one list to the other, as appropriate.
5. Click Close.

Delete a Pose Group

The Delete pose group option appears in the Group Poses dialog box and enables you to delete pose
groups from a specific control group.

Procedure

1. Choose Edit Pose Groups .

The Group Poses dialog box appears, listing all the existing pose groups for the selected control
group.

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 Dynamic reach advisor

2. Select the pose group you wish to delete from the Group Pose List.
3. Click Delete.
The pose group is deleted from the control group.

Note
Be sure that you want to remove the pose group before clicking Delete because no confirmation is
required before the pose group is deleted.

Dynamic reach advisor

If a simulation is unable to reach the next location, you can use the Dynamic reach advisor to resolve the
problem.

In this case, the simulation stops and the Dynamic reach advisor opens.

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 Deactivate Dynamic reach advisor during simulation on the Simulation tab must be cleared for the
advisor to work. This is the default setting.

Procedure

1. If Dynamic reach advisor has identified ways of resolving the currently unreachable location, make
an adjustment in one of the following ways:
• None—Make no change.
• Rotation (Perpendicular)—Set a rotation value for the location to enable the robot to approach.
The range of valid values that resolve the problem is displayed to assist you.
• External Axes—Set a value for the robot external axis. The range of valid values that resolve the
problem is displayed to assist you.
• Configuration—Change the Robot configuration.
• Clear Taught Location and Configuration—Select to clear.
If Process Simulate cannot find a way to resolve the currently unreachable location, the simulation
stops but the advisor does not open.
2. Click Apply.The simulation resumes. Neither restart nor reset is required.

Note
When you track objects on a conveyor, the advisor is deactivated.

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 End Items

End Items

The End Items option enables you to load individual component parts for the current work session as
opposed to loading the united representation (refer to Entity Level). Using this command affects the
current session only and does not change the underlying data.

Note
An automatic explode is performed when a united item has been checked out, and a part of the united
object is required by a user in another application. When an object is checked in, but not checked out,
and has been checked out by another user, an automatic end item explode is performed. The end item
on the screen changes its representation to reflect the explode. This occurs when any end item is shared
by a number of objects.

Procedure

1. Select an end item from the Object Viewer or the Graphic Viewer.

2. Choose Retrieve Detailed Representation . The individual component parts are loaded in place
of the united representation.

Export Symbols

Export symbols from Process Simulate Commissioning to an XML file

Procedure

1. Choose Export Symbols .

The Export Symbols dialog box appears.

2. Browse to the location in which you wish to save the XML file, enter a name for the XML file in the
File name field, and click Save. The symbols in the currently active Process Simulate Commissioning

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 project are exported to the XML file and can be viewed in external applications, such as Microsoft
Internet Explorer or Microsoft Notepad.

Note
The symbol attributes can be modified in the XML file using an external application. The implications of
changes to the different attributes when the XML is imported back into Process Simulate Commissioning
are described in Rules for Modifying and Importing XML Files.

View XML Files in table format

Process Simulate Commissioning enables you to view an XML file containing symbols that have been
exported from a Process Simulate Commissioning project in a table format. The table format is suitable for
presenting project symbol information in a clear and logical manner.

Note
When the XML file is displayed in table format, the signal details are read-only.

Procedure

1. Browse to the XML file and open it using a program that will enable you to modify the file, such as
Microsoft Notepad.
2. Add the following line after the first line in the XML file, before the project information:
<?xml-stylesheet type="text/xsl" href="C:Program
Files\Tecnomatix\eMPower\Plc\symbols.xsl"?>

3. Save the changes and close the XML file.

4. Browse to the XML file, and open it using Microsoft Internet Explorer. The symbols are displayed in
the table format shown in the following figure:

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 Rules for Modifying and Importing XML Files

Rules for Modifying and Importing XML Files

The Import Symbols and Export Symbols options enable you to create an XML file in which you can
update Process Simulate Commissioning project signals using an external application and then update the
project by importing the XML file back into the Process Simulate Commissioning project.

Note
Only signal details can be updated in this way. While changes can be made to control object details in
the XML file, these changes are not imported back into the Process Simulate Commissioning project.

The following details are exported for each symbol from Process Simulate Commissioning:

• Symbol Type - The type of the symbol, such as a Function Block, Function Caller, or Input Signal.
• ID - The identification details for the symbol in the Process Simulate Commissioning program.
• Name - The name of the symbol in the Process Simulate Commissioning program.
• Data Type - The size of the symbol in memory, such as Bool and Byte (for signals) or OB and FB (for
controls).
• Address - The numeric address of the symbol in the Process Simulate Commissioning program.
• Comment - A user added comment for the symbol.

Each of these details can be modified as required. Before modifying the symbol details, ensure that you
have read and understood the rules described in the following sections.

Modifying ID Information

Do not change the Symbol ID. This prevents errors when importing the file back into Process Simulate
Commissioning. When the XML file is imported into Process Simulate Commissioning, the system checks
the uniqueness of each ID, as follows:

• If the ID is found in the project, the appropriate Process Simulate Commissioning symbol is updated.
• If the ID is not found in the project, a new Process Simulate Commissioning symbol is added to the
project.
• If there is no ID in the XML file, a new Process Simulate Commissioning symbol is added to the project.

Note
A new symbol is only added if the Symbol Type and Data Type that correspond to the ID indicate that it
is a symbol. If the Symbol Type and Data Type that correspond to the ID indicate that it is a control, the
symbol is not imported and the project is not updated.

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Modifying Symbol Type Information

Modifying Symbol Type Information

The Symbol Type for signals can be updated in the XML file according to the following rules:

• An Input Signal can be converted to a Memory Signal.

• An Output Signal can be converted to a Memory Signal.
• A Memory Signal can be converted to an Input Signal, on condition that the signal was originally an
Input Signal.
• A Memory Signal can be converted to an Output Signal, on condition that the signal was originally an
Output Signal.

Modifying Address Information

The signal Address can be updated in the XML file as required. When the file is imported into the Process
Simulate Commissioning project, the system checks that it is consistent with the Data Type defined for
the signal. If the Address and Data Type are not consistent, the address is updated according to the Data
Type.

Fast Collision Set

Enables the user to quickly create a collision set from the selected objects. This collision set is displayed in
the left pane of the Collision Viewer under the name fast_collision_set. The collision set created with this
option is a self set, which means that all the objects within the set are checked for collision against each
other. Only one fast collision set may exist in a study. If you create another one, it replaces the previous
fast collision set.

Group

Grouping into single entity

The Group command enables you to group parts, resources, compound parts, compound resources,
sections, frames, equipment, and groups together into a single entity.

You can use groups, for example, when you do not have check-out permission for objects, yet you wish to
change their hierarchy and run simulations or perform collision detection with the new configuration.

Note
You can only add global frames to groups. You cannot add frames nested under components, frames
that are part of operations, or gripper frames.

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 Create Group

A group can contain any supported objects, is accessible in the Object Viewer, and has no effect on
the original objects — if you change the hierarchy of objects in a group, their configuration remains
unchanged in the Object Viewer. Objects may belong to more than one group.

It is also possible to Export groups to Excel from the Object Viewer.

Create Group

Procedure

1. Choose Create Group .

The Create Group dialog box appears.

2. In the Name field, type a name for the new group.

3. From the Scope dropdown list, select a scope for the new group. By default, Process Simulate uses
the high-level Group item in the Logical Collections Tree.

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 Note
If you selected a single item in the Object Viewer before invoking the Group command, the Create
Group dialog box opens with the group root in the Scope dropdown list.

4. Click the Grouped objects list and pick the items you wish to add to the group.

Note
• If you selected items in the Object Viewer prior to invoking the Group command, the Create
Group dialog box opens with the Logical Collections Treegroup root in the Scope dropdown list
and the selected items listed in the Grouped objects list.
• The Grouped objects list does not display duplicate items.
• Compound parts, resources, and equipment retain their hierarchy when added to a group.

5. Click OK.
The system creates the new group and displays it in the Logical Collections Tree.

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 Flatten Hierarchy

Flatten Hierarchy

The Flatten Hierarchy command operates on groups (or compounds) and promotes all the child objects of
nested compounds. The child objects are nested directly under the group. The command then removes the
empty compounds. The command also operates on groups nested under the selected group.

To flatten a hierarchy, select the group and choose Flatten Hierarchy .

Replace Compounds with Groups

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 The Replace Compounds with Groups command operates on groups (or compounds) and replaces all
the nested compounds with new groups. The new groups are named after the original compounds. The
command also operates on groups nested under the selected group.

To replace compounds with groups, select the group and choose .

Note

Before the operation, compounds are displayed and marked by the compound symbol . The operation
replaces the compounds with groups and these are marked with the group symbol .

Export groups to Excel

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 The Export Groups to Excel command enables you to export a group(s) from the Object Viewer to an
Excel spreadsheet. For example, selecting the following group:

and running the Export Groups to Excel command creates the following result:

Import kinematics from NX - compound equipment

You can import equipment kinematics from NX to Process Simulate on Teamcenter. This is done by first
exporting the kinematics and JT files to Teamcenter and then importing them into Process Simulate.

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Import projection information from NX

Note
See this white paper for information about the workflow for creating kinematic crank devices in NX.

After loading the kinematics, Process Simulate automatically reads this equipment - if the kinematics
did not contain any cranks (kinematic cycles), the device can be used right away. However, if it does
contain cranks, you can try and solve the device by selecting the relevant node and running the Solve NX

Kinematics command. This is necessary in order to enable using Joint Jog and other commands
for the device. To investigate if a device contains cranks, you can open it in the Kinematics Editor – cycles
in the graph indicate that you need to solve the kinematics:

Note
• Make sure that devices are not in modeling mode when using the Solve NX Kinematics command.
• After fixing the device's kinematics in the Kinematics Editor, use End Modeling and then perform
Teamcenter Update.
• The command supports multi-selection or selecting a compound node to solve all devices under it. An
informative message displays in the event that the command did not solve the device or If problems
occurred.
• You can customize the command as needed.

Import projection information from NX

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 You can import the projection information of Mfgs from NX Fixture Planner to Process Simulate on
Teamcenter (currently only for welds, not for continuous). It is necessary first to export the data containing
approach angles for the Mfgs from NX Fixture Planner to Teamcenter and then import them to Process
Simulate.

Note
In Body in White workflows, planning the fixtures and the robotic paths are parallel tasks that require
tight integration between the planners. Allowing them to share the data can increase the efficiency of
the integration phase.

To achieve smooth exchange of data, it is possible to share the location of the discrete Mfgs (also known
as approach) and have the most updated data in both Process Simulate and NX Fixture Planner.

When loading to Process Simulate, the application only reads the shared Projection Info Form if the
ReadProjectionInformation property from the Teamcenter Mapping Configuration Tool is set to True.

If the Mfg contains the Projection Information Form, for all relative locations, such as Relative to referenced
object, the leading part and weld point are updated according to the location indicated in the Projection
Info Form.

Import Symbols

The Import Symbols option enables you to import symbols (active signals and controls) from an XML
file into Process Simulate Commissioning. This facilitates updating existing signals in a Process Simulate
Commissioning project, as well as adding new signals to a project.

A Process Simulate Commissioning project that has been exported to an XML file can be imported back
into Process Simulate Commissioning after necessary modifications have been made using an external
application. For example, the file can be imported after signal names and addresses have been updated
and new signals added. The contents of an XML file generated by an external application can also be
imported into a Process Simulate Commissioning project, for example in order to add new signals to the
project.

Note
Before attempting to import symbols, ensure that the XML Symbols Schema has been installed and
activated. This schema is located at C:\Program Files\Tecnomatix\eMPower\Plc.

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 Procedure

1. Choose Import Symbols .

The Import Symbols dialog box appears.

2. Browse to and select the XML file containing the symbols you wish to import and click Open. A
confirmation message is displayed.
3. Click OK. The contents of the XML file are imported into the currently active Process Simulate
Commissioning project.

Note
The contents of the XML file are imported into Process Simulate Commissioning according the predefined
rules described in Rules for Modifying and Importing XML Files.

Insert Seam Location After

The Insert Seam Location After tool enables you to insert a new seam location inside an existing seam
operation.

• After you select a seam location, choose the Insert Seam Location After command. A new
seam location is created in the parent seam operation.
◦ The new location is located half way between the selected seam location and the next seam location.
◦ If the selected location is the last location of a seam operation, the new location is superimposed on
the selected seam location.

Note
The Insert Location Inside a Seam command is also available, with more options and greater accuracy
in setting the new seam location.

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 Legacy Automatic Path Planner

Legacy Automatic Path Planner

The Legacy Automatic Path Planner automatically calculates and creates optimal, collision-free paths for
all operation types.

While calculating the optimal path, the Legacy Automatic Path Planner may add or delete via locations,
but the first and last locations of each motion segment remain fixed. OLP commands are retained even
if their location is removed, and locations including Attach/Detach or Grip/Release OLP commands are
automatically marked as fixed. Attachment changes (refer to Adding Events to Operations) made during
a simulation (for example, a robot gripping a part) are also taken into account during path planning, so
that a collision-free path is calculated for both the robot and the gripped part. Collision-free means that
the system runs the Legacy Automatic Path Planner calculation according to the active collision sets. For
information on active collision sets, refer to Collision Viewer.

The Legacy Automatic Path Planner divides operations into sets of locations, known as segments. Each
segment contains fixed start and end locations and may contain intermediate non-fixed locations. For each
segment the Legacy Automatic Path Planner plans a collision-free path and then optimizes the planned
path.

After calculating a collision-free path, you can use manual tools such as Manipulate Location to fine-tune
the final result.

Legacy Automatic Path Planner, for both Assembly and Disassembly processes and for robotic operations,
can use existing via locations to guide the solution in the desired direction.

You can define specific collision sets to include only relevant objects under examination. Collision
detection works only for displayed objects, so you can hide objects irrelevant to collision detection before
running Legacy Automatic Path Planner.

When running Legacy Automatic Path Planner on robotic operations, set config_family and
joint_config_family to J3, J4 and Overhead, or to J3, J5 and Overhead. This ensures that Legacy
Automatic Path Planner runs without inconsistencies. For more information on motion parameters, refer to
the motionparameters-e.pdf document which can be found under …\eMPower\Help\Additional Reference
Material.

When running Legacy Automatic Path Planner on gun-only operations, the system implements an object
flow type of gun movement based on the working frame. Because the current gun kinematics pose is used
as a reference, it is recommended to set the gun pose to Open.

Note
• All Legacy Automatic Path Planner options are saved for the next session of Process Simulate.

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Run Legacy Automatic Path Planner

Run Legacy Automatic Path Planner

Procedure

1. From the Object Viewer, select either the object flow operations or weld operations (which have a
robot assigned) for which you wish to run Legacy Automatic Path Planner.
2. Choose Operation tab → Edit Path group → Legacy Automatic Path Planner .
The Legacy Automatic Path Planner dialog box appears.

For each robot, the Paths & Locations column displays a hierarchy of the selected operations, each
with its via locations and weld locations nested beneath it. For multiple operations, you can expand
or collapse the display of the locations.
The robot controller's Motion Planner is shown in brackets.

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 Run Legacy Automatic Path Planner

3. Check the Fixed column for each via location you wish to be mandatory and clear it for those you
wish to be optional. Some mandatory locations are fixed by default and cannot be changed, such as
Weld Locations and the first and last location of an operation. While calculating a collision-free path,
Legacy Automatic Path Planner deletes the optional via locations (and replaces them with new via
locations) but retains mandatory ones.
The set of non-fixed locations (which by default contains all the via locations in the operation)
serves to provide 'guiding' locations during the path planning process. Legacy Automatic Path Planner
attempts to build the new path in the vicinity of the non-fixed locations whenever possible within the
environment constraints.

Note
The Collision column is populated with one of the following statuses: Free, Contact, Collision or
Self Collision.
• Free—free of collisions at the location
• Contact—parts are in contact at this location. This occurs if parts are in a state of collision
but the penetration between them is less than the value set in the Allowed Penetration
parameter in the Collision Viewer.

For example, if a nut is screwed onto a bolt and is in a state of Contact, Legacy Automatic Path
Planner ignores the collision and plans a path accordingly. This results in a more accurate path.
• Collision—collision detected at the location as a result of the defined collision settings

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Run Legacy Automatic Path Planner

• Self Collision—collision between the robot and its mounted tools that is not considered by
currently defined collision settings. Automatic Path Planner calculates self-collisions by taking
into account all of a robot’s kinematic links except the last two and checks them against anything
attached to the robot (e.g., a weld gun).

Note
The operation Start and End locations (or of each segment within operations, if segments are
defined) and all the flow and weld locations are mandatory. They are grayed-out and you cannot
change them.

Note
• You can use Automatic Path Planner on an operation where the TCP frame changed due to a
work tool change, a tool frame change or through use of the Mount/Unmount OLP commands.
In these cases the TCP location is locked to enable use with Automatic Path Planner.
• Newly created locations inserted between two fixed locations (Start and End) use the TCP frame
of the End location if the change was caused by a work tool change or a tool frame change. If the
change was caused by using an OLP command the TCP frame of the Start location is used (the
gun is not mounted yet).
• The Motion and Zone columns are only available for robotic operations.

4. When Legacy Automatic Path Planner creates new via locations, it assigns their Motion Type (Joint
or Linear) according to the Motion Mode of the segment to which they are added. The segment's
Motion Mode is defined in the Motion Mode column, next to the segment's target location. To
change the Motion Mode value, select it from the list or right-click one or more selected locations
and choose the desired value from the context menu. Locations added by the Legacy Automatic Path
Planner before the selected location adopt the same motion type value.

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 Run Legacy Automatic Path Planner

Note
• The Motion Type of the segment target location is not affected by this operation.
• The Motion Type for locations is displayed in the Path Editor.
• If the Motion Type is Joint Motion, the line single_joint_prof single_prof; must
be defined in the motionparameters.e file of the robot to ensure that the interpolation used
by path planning is the same as the simulation. For more information on how to define
motion parameters, refer to the motionparameters-e.pdf document which can be found
under ...\eMPower\Help\Additional Reference Material.

5. By default, Legacy Automatic Path Planner runs on complete operations. However, you can select
specific segments (sets of two or more locations) on which to run Legacy Automatic Path Planner, if,
for example, you wish to investigate a specific part of a path.
a. Select the segments on which you wish to run Legacy Automatic Path Planner. You can use
standard Windows key combinations to make multiple selections.

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Run Legacy Automatic Path Planner

b. Right-click the selection and select Activate Selected Locations.

The ranges that you set as active are highlighted and the others are grayed out. Legacy
Automatic Path Planner sets the first and end locations of each segment to be mandatory (if
optional).
When you run Legacy Automatic Path Planner, it checks only the selected segments.
c. Right-click anywhere on the grid and select Activate All Locations to clear the selection. When
you next run Legacy Automatic Path Planner, it checks the full operations.
6. Click the Path Planning tab.

Set the following parameters:

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 Run Legacy Automatic Path Planner

a. Quality determines the resolution (precision) of the Legacy Automatic Path Planner algorithm.
Exact provides a collision free final result, but it increases calculation time. Draft decreases the
calculation time but small collisions may remain in the final result.
b. If a segment is invalid due to a collision, Legacy Automatic Path Planner calculates a path
that includes the colliding locations. For each colliding location, the algorithm finds the closest
collision-free location and calculates a path from that collision-free location.
The final path includes both the colliding location and the corresponding collision-free location.
When Allow colliding fixed locations is checked, Legacy Automatic Path Planner attempts to
find to a collision-free location nearby the first location, and issues collision warnings if it fails.

Note
Setting Optimization type to Cycle Time Optimization in the Path Optimization section
deactivates the Allow colliding fixed locations mode.

c. For object flow operations, optionally configure a New Section Volume to constrain the Legacy
Automatic Path Planner algorithm. You must run Activate Section and set the section to
Clipping Outside mode. Legacy Automatic Path Planner does not consider any paths outside
the volume. Configuring a pertinent section volume reduces the execution time of the algorithm
and produces only useful results. To activate this, set Consider active section. The name of the
active volume is displayed. Otherwise, it displays None or Multiple.

When Consider active section is set, you can set Include device if you wish to include only
collisions of the robot/device inside the section volume, or clear this option if you wish include
collisions of the robot/device both inside and outside the section volume.
d. Prevent Cable Twisting—When set, this option prevents cable twisting by ensuring that the
absolute sum of J4+J6 is less than the user-specified value (default 360 degrees).

Automatic Path Planner avoids singularity by searching for a robotic path without singularity
points. It finds a solution with joint J5 that is out of the range ±5°.

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Run Legacy Automatic Path Planner

e. Run basic planning first—When set, this option attempts to find a direct collision-free path. If
this is unsuccessful, it tries to find a path using the following steps:
• Increase the gun opening.
• Shift the gun in the -Z direction (with respect to the gun's reference frame).
• Try to find a direct path between the relevant weld locations' escape points.
• Try to find a path between the relevant weld locations' escape points after shifting the gun in
the Y-direction (with respect to the gun's reference frame).
These calculations run quickly in the background. If unsuccessful, the regular Legacy Automatic
Path Planner algorithm is invoked.
f. Create approach depart via locations—If set, this option causes the Legacy Automatic Path
Planner to create approach and depart locations in proximity to the weld location. After arriving
at the approach location, the gun can easily move to the weld location.

After performing welding, the gun moves to the depart location (which is at the same position
as the approach location), and from there to the next location.

Note
The algorithm creates approach and depart locations within the near-miss area (as set in the
Collision tab) except if the distance between the proposed approach or depart location and
any part is less than the distance between the weld location and any part. In this case, no
approach or depart location is created and the icon is displayed.

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 Run Legacy Automatic Path Planner

After completing automatic path planning, it is possible to tweak the path manually.

7. Make sure that the simulation of the path runs smoothly, i.e., without warnings or errors. Path
segments that cause warnings or errors are skipped and an indication appears in the Status column.
8. Click Plan in the Path Planning section to calculate a collision-free path.
• In its first iteration, Legacy Automatic Path Planner:
◦ Identifies mandatory locations at which the moving object (or robot) collides with the
components and marks them with the icon in the Status column.

◦ Identifies locations that the assigned robot is unable to reach and marks them with the icon
in the Status column.
◦ Identifies locations at which the moving object (or robot) collides with the active section volume

and marks them with the icon in the Status column.

◦ Identifies optional locations containing OLP commands to be deleted.
◦ Issues the following warning if it detected problematic locations:

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Run Legacy Automatic Path Planner

Click Details to view the problematic locations and then click Continue to continue calculation
despite the problem or Abort to cancel the calculation. If you press Continue, Legacy Automatic
Path Planner does not execute segments with problematic operations but does execute segments
with non-fixed locations possessing OLP commands. Those via locations are then deleted together
with their corresponding OLP commands.
• In its second iteration, Legacy Automatic Path Planner:
◦ Calculates a collision-free path for each pair of fixed locations in the selected operations.

◦ Marks the second location of the pair with the icon for each successful calculation.
◦ Removes optional locations where necessary.
◦ Adds locations where necessary.
The following figures show a path before and after a collision has been removed.

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 Run Legacy Automatic Path Planner

Note
When performing path planning for continuous operations, the Legacy Automatic Path Planner
makes no changes to the seams. It only adds via locations to ensure there are no collisions between
the seams.

The calculation progress for the current segment is displayed in the Automatic Path Planner progress
bar.

Note
If the robot controller's Motion Planner is set to RRS, it is possible that Legacy Automatic Path
Planner will identify collisions that do not occur when this parameter is set to MOP. This is because
Legacy Automatic Path Planner does not have all the information available to the RRS, for example,
speed limitations or unavailable motion types. In this case, Legacy Automatic Path Planner runs an
algorithm at the end of the Path Planning stage to fine-tune the path and resolve these collisions.

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Run Legacy Automatic Path Planner

The following Status updates are available:

—Collision occurred during RRS simulation and was resolved.

—Collision occurred during RRS simulation but was not resolved.

—Unable to play the trajectory in RRS.

9. If you wish to stop Legacy Automatic Path Planner while it is running, click Stop.

The status of the current calculation is marked with the icon.

Click Plan again to resume the current calculation. If you wish to skip the calculation of a specific
segment, right-click on the corresponding location during the calculation and select Skip Segment.

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 Run Legacy Automatic Path Planner

10. While planning is in progress, the Path Planning section displays the Magnet point option for Object
Flow operations to assist you in discovering obstruction-free paths for cases when solutions may be
very complex. The Update display check box is automatically activated, allowing you to view the
progress of the planning algorithm as it attempts to find a collision-free path.

a. Click the Magnet icon .

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Run Legacy Automatic Path Planner

Automatic Path Planner creates a duplicate ghost image of the part to be moved, and attaches a
Placement Manipulator to the ghost part.
b. Use the manipulator to move the ghost part (together with the actual part) to assist in
discovering the collision-free path.
c. You can return the part to its last valid, collision-free position by clicking the second Magnet icon
to allow you to attempt alternatives from that last position.

d. Click the Magnet icon again to deactivate Magnet point functionality.

11. In the Path Optimization section, optimize the path as follows:

• When optimizing object flow operations, Legacy Automatic Path Planner offers the choice between
two optimization criteria:
◦ Distance—attempts to minimize the distance traveled by the objects when planning paths. This
option is only displayed when object flow operations are selected.

In the Quality field, select Quick or Precise.

◦ Desired Clearance—attempts to centralize the path traveled by the objects when passing
between obstructions.

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 Run Legacy Automatic Path Planner

The values of the Near Miss Value column are taken from the near miss values of the active
collision sets in the Collision Viewer; these represent a collision-free path. When running
Desired Clearance optimization:
◊ Legacy Automatic Path Planner attempts to find a path that passes even further away from
the objects than their near miss values. It does this in an iterative process by increasing
the clearance by Clearance Step Size up to the Desired Clearance values you set (if
possible), thus defining the optimal path. The Clearance area is considered part of the object
for collision calculations.
◊ Legacy Automatic Path Planner enables you to define the size of the buffer surrounding
dynamic objects in the Automatic Path Planner. If possible, the path ensures that the
Desired clearance surrounding the moving object buffer does not touch or enter the
Clearance area surrounding the static objects. If this is not possible, the system allows the
Desired clearance to touch or enter the Clearance area.
• When optimizing weld operations, Legacy Automatic Path Planner offers the choice between three
optimization criteria:
◦ Joint travel—attempts to minimize the distances traveled by the joints when planning paths.
This option is only displayed when weld operations are selected.

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Run Legacy Automatic Path Planner

In the Quality field, select Precise to add more locations for higher precision or Quick to use
fewer locations - this is less precise but ensures faster performance.

Note
When activating this option, the system reduces the length of the path. It adds more
intermediate locations in order to fit the path to the shape of the obstacles.

◦ Desired clearance attempts to centralize the path traveled by the objects when passing
between obstructions, as described above.
◦ Cycle time—Instructs the system to use time optimization when planning paths.

Parameter Description
Target Cycle Time Sets the period of the optimized cycle time according to the value you
enter (in seconds)
Optimization timeout Limits the running time of the algorithm. The check-box deactivates the
time limitation.

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 Run Legacy Automatic Path Planner

Select the option and enter a value to set the period of the optimized cycle time.
Select one of the following:
◊ Zone assignment Attempts to shorten the cycle time of already collision-free paths by
assigning zones of varying size to the locations but does not add, delete or manipulate path
locations. The Zone Assignment process typically runs much faster than Full optimization and
consumes less system resources.

◊ Full—Plans a collision-free path and optimizes the path cycle time by adding, removing and
manipulating locations and by assigning zones of various sizes. This optimization process
executes many simulations in the background (usually using RCS). This process may be time-
consuming and the speed of optimization is dependent on the quality of the connection to
the RCS server.
◦ Energy Optimization
Prerequisites: Energy optimization is based on the presence of an RCS controller to compute
the energy of a given operation, so it is important to have the correct RCS controller for
your robot, with a valid license. Currently, only the KUKA RCS controller has the capability to
compute energy consumption of an operation. Energy Optimization is part of the Automatic
Path Planning module, and the correct license is required to launch this module.
You can use the energy optimization feature to reduce the energy consumption of an existing
operation. It is important that the input operation should be collision-free and free of simulation
errors.
Preparing the energy optimization
Select the operation in the tree and launch the Automatic Path Planner command. In the Path
Optimization expander. Click the Optimization types combo box. The Energy optimizer appears:

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Run Legacy Automatic Path Planner

Note
If the Energy option does not appear, either your controller is not set up properly, or the RCS
controller in use does not provide energy consumption computation.

After selecting the energy optimizer, the parameters are displayed:

Parameter Description
Cycle Time Max Allows the energy optimizer to find new operations with cycle time
Increase increased at least by this percentage. Usually, increasing the cycle time
decreases the energy consumption, but when the cycle time is an
important criteria you can limit the increase with this value. For instance,

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 Run Legacy Automatic Path Planner

Parameter Description
if the operation cycle time is 10 seconds with 5% cycle time increase, then
the optimized operation cycle time will not be more than 10.5 seconds.
Max joint speed Maximum speed of the robot with joint motion type. When new joint
motion waypoints will be added during the optimization, the speed at
these waypoints will be this value.
Max linear speed Maximum speed of the robot with linear motion type. When new linear
motion waypoints will be added during the optimization, the speed at
these waypoints will be this value.
Optimization Limits the running time of the algorithm. The check-box deactivates the
timeout time limitation.
Allow deep Continues optimization even if the path is already optimized. When
optimization activated, the optimization may take more time to enhance efficiency of
energy consumption. This may not be necessary for general use since it is
more time-consuming.

Zones
The energy optimizer updates the zones associated with the operation. Choose a valid set of
zones in the General Settings expander:

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Run Legacy Automatic Path Planner

The chosen set should contain the smallest (fine) zone and the highest zone (C_DIS 1000
mm) here. Then you can add in-between values. when you add many zones, the algorithm
requires more time to find the best zone for each new waypoint. Using less than 10 zones is
recommended for enhanced performance.
Launching the energy optimizer
Once the operation is ready, the parameters are set and the zones are defined, you can click the
Optimize button to launch the optimizer. If any of the prerequisites are lacking, an error box
displays to notify you about the issue that requires correction:

During the optimization

During the optimization, the progress bar and the status message help monitor the optimization
process:

You can press Stop at any time to interrupt the optimization. The most optimal operation
identified so far is stored in the Automatic Path Planner.
After the optimization
At the end of the optimization, a pop up displays the optimization gain:

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 Legacy Automatic Path Planner Settings

The operation sub-item list has updated with new or removed waypoints. The new operation
should consume less energy.
12. In Path Optimization, click Reset if you wish to discard the results of Legacy Automatic Path Planner
and revert to the initial path configuration.

Note
If you wish to run Path Planning and Path Optimization in an all-in-one process, click Do Both in the
Path Planning + Optimization section. Alternatively, you can click Plan and then Optimize.
7 axes robots are not supported by Legacy Automatic Path Planner.

Legacy Automatic Path Planner Settings

Procedure

1. Click General Settings.

For Object Flow Operations, the General Settings appears as follows:

For operations with assigned robots, the General Settings appears as follows:

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Legacy Automatic Path Planner Settings

2. Set Backup Operations if you wish to create a backup of the selected operations before running
Legacy Automatic Path Planner.
The backup operation is named <Original_Name>_backup and is located next to the original
operation.

Note
Reset does not revert backed up operations.

3. Set Segment plan timeout if you wish to set a time limit for calculating each segment of the path.
If the system has not performed optimization for the current segment by the end of this time, it
abandons the segment and moves to the next one. By default, this setting is not active. Checking
Segment plan timeout, enables the default time of 1800 seconds - you can then set the timeout as
you wish.
4. Click Restore to reset the default values if you are not satisfied or Close when you have finished.
5. From the Robot listbox, select the robot with the joints that you wish to configure. The dropdown list
displays the robots assigned to operations you selected in Legacy Automatic Path Planner.
6. Assign relative weights to the joints of the selected robot.

Note
The Joints Weights dialog box also displays external joints and enables you to configure relative
weights for them.

This causes Legacy Automatic Path Planner to allocate higher priority to moving joints with a higher
relative weight – value between 0 and 10. For example, when a workflow necessitates accessing

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 Legacy Automatic Path Planner Settings

weld points in a crowded environment, you can assign a higher relative weight to a robot joint that
rotates the weld gun. This causes the Legacy Automatic Path Planner to select it over a joint with a
lower relative weight that moves the robot arm. The resulting path is more likely to avoid collisions in
a restricted area.
7. Click the Zones button.

8. Check one of the following:

• Apply settings to all motion types - The zone definitions you are about to add relate to both linear
and joint motion.
Or
• Define separately for different motion types - Select the motion type (Linear or Joint) from the
dropdown list and add zone definitions for the specified motion type.
9. Add zone definitions, as follows:
• Click Add.
A new line appears with a new zone definition.
• From the Zone dropdown list, select the zone definition you wish to add.
10. If necessary, select a zone definition from the zone list and click Remove.

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Logical Collections Tree

Note
• The zones for the default robot controller are: Fine, medium, coarse, and nodecel. For
customized robot controllers, refer to the product documentation for the relevant zones.
• In the Zones list, the first zone must correspond to the "fine" zone. All larger zones must be listed
in ascending order (from small to large).
• The number of Zones in the list affects calculation time. It is recommended to add up to four
zones to the list.

Important consideration for Cycle Time Optimization

The Cycle Time Optimization process executes simulations in the background, using the robot specific
controller or Process Simulate MOP (Motion Planner) engine, when using the Default controller. For
these simulations, the system uses the current Simulation Time Interval setting. In order to create
collision free paths, it is necessary to adjust both the Simulation Time Interval and the Dynamic
Penetration values prior to executing the calculation.

Note
Since simulations execute in the background, the duration of executing optimization on Cycle
Time is typically longer compared to Joint Travel Optimization. Therefore when using RCS, it is
important to ascertain that the conditions are optimal for running the connection, for example, use
a local server, since a remote RCS server may impede performance, due to network constraints.

Logical Collections Tree

Logical Collections Tree Viewer

Siemens recommends using the Object Viewer with advanced functionality instead of the Logical
Collections Tree. To enable the Logical Collections Tree, access Tecnomatix Doctor - Tools.

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 Logical Collections Tree Viewer

The Logical Collections Tree contains the following root nodes:

• Assemblies — Displays the In-Process Assemblies (IPAs) and Dynamic In-Process Assemblies (DIPAs) for
the loaded scope. It is possible to locate the IPA relative to the station by using the Process Simulate
placement tools. This relative location is reflected in the Teamcenter Manufacturing Process Planner
process tab when users check the Process checkbox in the Teamcenter Update dialog.
• Groups — Group nodes. Refer to Group.

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Logical Collections Tree Viewer

Dynamic In-Process Assemblies (DIPAs)

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 Logical Collections Tree Viewer

Dynamic IPA is loaded to Process Simulate on Teamcenter the same way as regular IPA, yet it is different
from the classic IPA in the following aspects:

• Easier to maintain – changes in product consumption are automatically updated under the Dynamic
IPA nodes (may be subject to caching per RAC session).
• No hierarchy – each DIPA node contains a single list of parts coming from all preceding stations,
contrary to the classic IPA which contains an Occurrence Group hierarchy.
• Support of Scope Flows – Dynamic IPA considers flows from stations which are not under the same
parent as well.
• Dynamically computed upon opening with Process Simulate – when consumed DIPA are opened
in Process Simulate – its parts are automatically updated, no need for user action in Teamcenter
Manufacturing Process Planner.
• Performance – parts under DIPA nodes are loaded in Process Simulate using Lite Weight BOM (LWB)
technology – a method for faster loading of BOM structure.

You can automatically create Dynamic IPA nodes for your selected processes, using the “Create/Update
Dynamic Assembly Tree…” command in Teamcenter Manufacturing Process Planner.

You can edit groups in the Logical Collections Tree as follows:

• Copy, cut, paste, and drag and drop are fully supported.
• <Alt> + drag and drop creates a shared instance of the group. Any changes in one group instance is
reflected in the other instance.
• Deleting group elements from the Logical Collections Tree disassociates them from the group but does
not delete them - they remain unaffected in the Object Viewer. The exception to this rule is an object
nested under a compound, which is deleted.
• Export Groups to Excel - Process Simulate prompts you to configure a report, as follows:

1. Right-click the desired groups and choose Export Groups to Excel .

The Export Groups to Excel dialog box appears.

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Logical Collections Tree Viewer

2. For each of the Object types, select from the Available properties to compile a Show properties
in following order list and click OK.
Process Simulate generates the Excel report.

If you did not select any groups, Process Simulate generates a report for all the groups in the Groups
Viewer.

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 Editing occurrence groups in the Logical Collections Tree

The Logical Collections Tree displays the Occurrence Group created in the Manufacturing Process Planner,
consumed by the operation and sent to Process Simulate on Teamcenter.

Note
• You can edit occurrence groups in the Logical Collections Tree in Process Simulate on Teamcenter if
you have the appropriate permissions, which are set in Teamcenter.
• To create Occurrence groups in Manufacturing Process Planner (MPP), use the Create a New
Occurrence Group command. In order to automatically create an IPA, use the Create/Update Assembly
Tree command in MPP. In order to automatically create a DIPA, use the “Create/Update Dynamic
Assembly Tree” command in MPP.

Editing occurrence groups in the Logical Collections Tree

An Occurrence Group is a logical collection of objects. It can contain parts and Occurrence Groups. After
creating a root Occurrence Group in Teamcenter, you can edit it in Process Simulate without having to
return to Teamcenter. When you have finished editing, you can update the Teamcenter database. For more
information on this topic, refer to Teamcenter Update.

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Add occurrence group

Note
You must load at least a root Occurrence Group in the scene you send from Teamcenter in order to edit
Occurrence Groups in Process Simulate.

Add occurrence group

You can add an Occurrence Group as a child of an existing Occurrence Group.

1. In the Object Viewer, select the Occurrence Group to which to add a child Occurrence Group.
2. Access the New Object.
The New Object dialog box appears.

Note
• The Object Types displayed in the Types list vary depending on the selected object in the Logical
Collections.
• When using the New Object dialog box to add Occurrence Groups, the Description field is
disabled.

3. From the Object Type list, select a type for the new Occurrence Group.
The Name field displays the default name for the selected type.
4. Edit the name, as necessary.

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 Rename occurrence group

5. Click OK.
The new Occurrence Group appears in the Logical Collections.

Note
When you add an Occurrence Group as a child of an existing Occurrence Group, it is added to all the
instances of that Occurrence Group.

Rename occurrence group

Procedure

1. In the Object Viewer, select the Occurrence Group you wish to rename.
2. Press <F2>.orDouble-click the Occurrence Group.

Note
Edit the name of the Occurrence Group, as necessary.

Note
The new name applies to all the instances of the selected Occurrence Group in the Object Viewer.

Move occurrence group

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 Procedure

1. In the Object Viewer, select the Occurrence Group you wish to move.
2. Drag and drop the Occurrence Group to the desired parent.
or
Use the Cut and Paste commands.

Note
• In this example, the Occurrence Group OG_Child has been moved from the parent OG_A to OG_C.
• The child Occurrence Groups of the selected Occurrence Group move together with their parent.
• You cannot paste an Occurrence Group to any of its descendants.
• You cannot move the root Occurrence Group.
• Only the selected instance of the Occurrence Group moves. Other instances of the same Occurrence
Group remain in their current locations.

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 Share occurrence group

Share occurrence group

An Occurrence Group that appears under multiple parent Occurrence Groups it called shared. Each
occurrence of the Occurrence Group is an instance of the same Occurrence Group.

Note
When you share an Occurrence Group with other nodes, those nodes also become parents of the
Occurrence Group.

1. In the Object Viewer, select the Occurrence Group you wish to share.
2. While pressing <Alt>, drag and drop the Occurrence Group to the desired parent.

Note
• In this example, the Occurrence Group OG_Child has been shared with OG_B.
• The child Occurrence Groups of the selected Occurrence Group are also shared.
• You cannot share an Occurrence Group with one of its descendants.

Disconnect occurrence group

When an Occurrence Group appears under multiple parent Occurrence Groups, each occurrence is an
instance of the same Occurrence Group. You can disconnect a single instance from its parent without
affecting the other instances.

1. In the Object Viewer, select the Occurrence Group you wish to disconnect.
2. Choose Home tab → Edit group → Delete or press <Delete>.

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Move, share, disconnect parts in the Logical Collections Tree

Note
• In this example, the Occurrence Group OG_TO_DELETE has three parents, OG_A, OG_B, and OG_C.
The disconnect operation removes OG_TO_DELETE from all instances of OG_A and leaves it as a child
of OG_B and OG_C.
• The child Occurrence Groups of the disconnected Occurrence Group are also disconnected. However,
other instances of the same child Occurrence Groups remain connected if their parent Occurrence
Group is not disconnected.
• You cannot disconnect the root Occurrence Group.
• If there is only a single instance of an Occurrence Group, disconnecting the Occurrence Group deletes
it.
• Deleting an Occurrence Group in Process Simulate does not necessarily delete it in Teamcenter. If the
Occurrence Group has other parents in Teamcenter which are not part of the scene sent to Process
Simulate, it remains in Teamcenter.

Move, share, disconnect parts in the Logical Collections Tree

In Process Simulate, you can only add parts loaded in the current scene to an Occurrence Group. Therefore,
load all the required parts into the scene in Teamcenter before sending it to Process Simulate.

In Process Simulate, you can move, share, and disconnect parts that are direct children of an Occurrence
Group without having to return to Teamcenter. You cannot rename parts in Process Simulate or change

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 Object Tree

their structure. When you have finished making changes, you can update the Teamcenter database. For
more information on this topic, refer to Teamcenter Update.

To move a part:

1. In the Object Viewer, select the part you wish to move.

2. Drag and drop the part to the desired parent.
or
Use the Cut and Paste commands.

To share a part:

1. In the Object Viewer select the part you wish to share.

2. While pressing <Alt>, drag and drop the part to the desired parent.

To disconnect a part:

1. In the Object Viewer, select the part you wish to disconnect.

2. Choose Home tab → Edit group → Delete or press <Delete>.

Note
The part is only deleted from the current scene in Process Simulate if it has no other instances. It is not
deleted from Teamcenter.

Object Tree

Working with the Object Tree

Siemens recommends using the Object ViewerObject Viewer with advanced functionality instead of the
Logical Collections Tree. To enable the Object Tree, access Tecnomatix Doctor - Tools.

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Working with the Object Tree

The Object Tree contains a hierarchy of the objects in the scene.

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 Working with the Object Tree

Note
The Access State column displays the lock status of items in Teamcenter and appears by default. You
can close it if you want.

Adding Custom Folders to the Object Tree

Object Tree out-of-the-box folders are colored blue.

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Working with the Object Tree

You can create additional folders in which to store objects, thus creating a custom hierarchy for your
engineering data. After moving items into your custom folders the internal hierarchy of the resource,
plant, etc. remains unchanged.

To create a custom folder, select a location for the new folder and click .

The new folder (represented by a standard file folder icon) is inserted, you can rename it.

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 Filtering the Object Tree

Filtering the Object Tree

You can filter the Object Tree to display only the types of object that currently interest you.

1. From the Object Tree, right-click and empty area in the Object Tree and choose Tree Filters Editor.

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Filtering the Object Tree

2. Check the items you wish to appear in the Object Tree and clear those you wish to hide.
The Object Tree display is updated.

Note
Filtering the Object tree does not affect the Graphic Viewer.

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 Customizing the Object Tree

Customizing the Object Tree

You can select the type of information that is displayed in the columns of the Object tree.

1. Click .
The Fields Customization dialog box is displayed.

Note
The Read-only column displays the lock status of items in Teamcenter and appears by default. You
can close it if you want.

2. From the Available Fields listbox, select the type of information you want to display in the Object
tree, and click . The field is displayed in the right-hand listbox. Use the button to return fields to
the left-hand listbox if you do not wish to display them.

Note
You can add the Variant Conditions column to display variant condition data retrieved from
Teamcenter.

3. Use the and buttons to move all the fields in one step.
4. Use the Move up and Move down buttons to move the selected fields into the order in which you
want them to be displayed in the paths table.
5. Click OK to close the Fields Customization dialog box.

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Customizing the Object Tree

Your selected information is displayed in the columns of the Object tree.

The following fields can be customized:

Column Description
Attached To Displays the name of the operation. To add new operations, or rename an existing
operation, right-click in this column and choose New or Rename from the context
menu.

Click the value in this column to select the object itself in Object Tree.
Comment Displays a user-defined comment. To enter a comment, click in this column and
enter the required text.
Operation Indicates if the resource has been assigned to an operation.

Valve Type Indicates which type of valve is assigned to the resource. You can change the valve
type, as described in Change Valve Type Assigned to a Resource.
LB Simulate Indicates whether the Logic Block participates in the simulation. The default value
is On.
Input Signals Indicates whether input signals have been defined for the operation, and enables
you to identify those signals.

To identify the input signal(s), click once in this column. The appropriate input
signal(s) is highlighted in the Signal Viewer.
Output Signals Indicates whether output signals have been defined for the operation, and enables
you to identify those signals.

To identify the output signal(s), click once in this column. The appropriate output
signals are highlighted in the Signal Viewer.
Access State Displays a lock icon if the item is locked in Teamcenter. If you make changes to
the locked representation (Item, Item Revision or BOM View Revision) you will not
be able to save them back to the Teamcenter server. When sending locked data
from Teamcenter, Process Simulate displays a message listing the objects with their
locked representations.
Checked out by This column shows which user checked out the objects.

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 Changing the valve type assigned to a resource

Changing the valve type assigned to a resource

You can change the valve type assigned to a resource.

1. In the Resources tab, displayed in spreadsheet format, click the Valve Type cell for the resource whose
valve type you want to change.
A dropdown list appears.

2. Select one of the following valve types:

• 5_2mono - for devices that have two poses. A single signal controls the valve. When the signal is
TRUE, the valve moves the device to one pose, and when false, the valve moves the device to the
other pose. The device cannot stop between poses.
• 5_2 - for devices that have two poses. Separate signals control each pose. The valve moves the
device according to the first triggered signal. If a second signal is triggered, the valve ignores the
second signal until the first signal turns to FALSE. If a signal is triggered and then disabled, and no
other signal is triggered, the device stops mid-pose.

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Moving resources

• 5_3 - for devices that have two or more poses. The motion continues as long as the relevant signal
is set to TRUE. To handle the appearance of opposing signals (for example, TRUE for two opposite
directions) define a Logic Resource handling the valve logic

Moving resources

You can drag and drop resources from one location to another in the Object Viewer.

1. In the Object Viewer, select the resource you wish to move.

2. Drag the selected resource to the new location.

This example shows that Plant1.2 was a child of Plant1 and is now a child of Plant2.

Note
• Do not use Cut and Paste to move resources.
• You cannot move a resource if:
◦ The parent resource cannot be modified, for example, because of its release status.
◦ You are trying to move the root resource.
• You cannot move parts in the Object Viewer.

Process Simulate on Teamcenter (from version 2301) adds the Find No. parameter to new resources in
the Object Viewer. This parameter displays for the resource when loaded in Teamcenter in the Bill of
Equipments (BOE) and updates the order of the resource in the BOE as you change the Find No. value.
Or conversely, if you drag the resource to a different position in the BOE hierarchy, the parameter updates
accordingly.

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 Resource folders and part folders in the Object Tree

Resource folders and part folders in the Object Tree

The Object Viewer can contain Resource and Part folders to order and manage components that are
divided into resources and parts. You can drag and drop parts only to a Parts folder or to any Compound
Part under it. Similarly, you can drag and drop resources only to a Resources folder or to any Compound
Resource under it.

The behavior of Parts and Resources folders is like that of Notes and Dimensions folders, where you can
perform Blank/Display selection for an entire folder at once.

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Frames hierarchy in the Object Tree

Frames hierarchy in the Object Tree

The hierarchy of the Object Tree Frames folder is as follows:

• One subfolder for each robot.

• Each robot folder contains:
◦ A Robot WorldFrame (indicated by the .wf or .w suffix, depending on the actual controller).
◦ A subfolder for the robot tools (called Tools, UTools, depending on the actual controller).
◦ A subfolder for the robot object frames (called UFrames, Bases, Wobjs, depending on the actual
controller).

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 Operation Tree

You can:

• Rename robots with meaningful names (robot folders do not need to have the same name as that of
their robot).
• Create a customized folder hierarchy (for example, by zone or robot manufacturer) under the robot
folders.

Note
Frames are only created in the folder hierarchy for a new robot instance. Legacy data (with existing robot
instances and system frames) can be repositioned in a frame tree hierarchy by using Create / Update
System Frame. This repositioning is triggered only if the Robot World Frame is not already inside a
frame folder (in order not to break any existing hierarchy).

Operation Tree
Siemens recommends using the Object Viewer with advanced functionality instead of the Operation Tree.
To enable the Operation Tree, access Tecnomatix Doctor - Tools.

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Operation Tree

The Operation Tree displays the operations defined in the engineering data.

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 Operation Tree

Note
The Access State column displays the lock status of items in Teamcenter and appears by default. You
can close it if you want.

The Description column (accessible via the Customize button), provides users with information on
nodes in the Assembly process to help efficiently create and review simulations.

To move operations or processes

You can drag and drop operations and processes from one location to another in the Operation Tree.

1. In the Operation Tree, select the operation or process you wish to move.
2. Drag the selected operation or process to the new location.

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Operation Tree

This example shows that Operation2 was a child of Process1 and is now a child of Process2.

Note
• Do not use Cut and Paste to move operations or processes.
• You cannot move an operation or process if:
◦ The parent operation or process cannot be modified, for example, because of its release status.
◦ You are trying to move the root operation.

To skip operation locations

It is possible to specify locations in the Operation Tree to be skipped during simulation. When a location is
skipped, the robot proceeds directly to the next location without visiting the skipped location. However, if
the skipped location has OLP commands, these are executed.

Note
Currently, this feature is only available when running the Fanuc-Rj, Yaskawa DX200 and YRC1000, and
Duerr-Ecotalk robot controllers.

1. Add the Commented Out column to the Operation Tree.

2. Check locations to skip (or clear locations).

The Commented Out status of locations is synchronized between the Operation Tree, Path Editor, and
Robot Program Viewer.

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 Operation Tree

The figure shows that after marking additional locations in the Operation Tree as Commented Out, those
locations are also commented out in the Path Editor and Robot Program Viewer (in the Fanuc syntax, this is
indicated by //).

Note
The Commented Out cell is disabled for unsupported controllers.

To view and modify Call operation Arguments

You can view arguments uploaded with operations in the Arguments column in the Operation Tree.

1. Add the Arguments column using the Customized Columns dialog box.

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Load in Standard Mode/Line Simulation Mode

The argument parameters displayed are Input/Output and Type. Multiple parameters are comma
separated, and parameters surrounded by brackets are optional.
2. Hover your mouse over the Argument cell of the operation to display an easy-to-read tool tip list of
the parameters.

3. To modify Arguments use the Robot Program Viewer Free Text option.

Load in Standard Mode/Line Simulation Mode

Note
Line simulation is also known as event-based simulation.

After opening a project in Process Simulate, it is necessary to Load a study with its manufacturing
environment objects and architecture. You can load the study either in Standard mode or in Line
Simulation mode.

The Load in Standard Mode and Load in Line Simulation Mode commands load the following
objects for a study:

• Products
• Resources
• Manufacturing process operations

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 • Relations between the objects

Note
When loading JT files, you can filter them according to a preconfigured filter. For more information on
this, see the Apply Default Layer Filter when loading data option in General Tab.

Managing Simulation Movies

Movie Manager

The Movie Manager uses Process Simulate's MovieRecorder functionality to record movies of simulations
and associate them with their activity. If you create a movie of an activity and its child activities, Movie
Manager stores it under the parent activity.

Movie Manager enables you to select activities from the Process Tree (derived from the Object Viewer).
For each selected activity, the Movie Manager runs a simulation in the background, records a movie file,
and associates the file with the activity.

Before opening Movie Manager, you must ensure that the simulation time line and the Movie Manager
operation root are synchronized (relate to the same launch point in the disassembly). For example, if the
root operation in the Movie Manager is focused on the removal of a specific part, while the simulation time
line is set to an earlier stage of the disassembly, your resulting movie will show a part being disassembled
through a part blocking its path.

Movie Manager also enables you to view the movies you create.

Note
You must install DirectX on your computer to view movies in the Preview Pane. For information on this
topic, refer to http://support.microsoft.com/kb/179113.

Use Movie Manager

Procedure

1. In the Object Viewer, select the activity for which to create a movie.

Note
You can only create movies for activities that are saved on the Teamcenter server.

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 2. Choose Movie Manager .
The Movie Manager dialog box appears.

The activity you selected is loaded in the left pane under Process Tree.

Note
If you did not select an activity before invoking Movie Manager, the entire Object Viewer is
displayed.

The Movie Manager toolbar contains the following buttons:

Button Option Description

Mark All Checks the V field for all the selected activities, including all their
child operations activities.

Note
If no activities are selected, this function checks all the activities in
the Process Tree.

Mark by Level Checks the V field for all the activities of a specific level in the Process
Tree. Click the arrow to the right of the icon to select a level (level 1 -
level 5).

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 Button Option Description

Mark Lines with Checks the V field for all the activities in the Process Tree that do not
no Movie have an associated movie.

Clear All Marks Clears the V field for all the selected activities, including all their child
activities.
Note: If no operations are selected, this function clears all the
operations in the Process Tree.
Create Movie Enables you to create movies for the checked operations. Click the
for all Marked arrow to the right of the icon to configure one of the following movie
Operations creation modes:

• Create additional movies - Creates a movie for the checked

activities. If an activities already has a movie, Movie Manager
creates another movie.
• Create only missing movies - Creates a movie for the checked
activities that do not yet have movies.
• Overwrite all movies - Creates a movie for the checked activities.
If an activities already has a movie, Movie Manager creates
another movie and deletes the existing one.

The Movie Manager contains the following components:

Component Description
Process Tree Enables you to select activities for which to create movies. The Process Tree displays
the activity you selected including all its child activities or the entire Object Viewer if
no operation is selected.
V Enables you to select activities for which to create movies.

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 Component Description
Movie Displays when a movie exists for an activity.
Avi Files Displays the movies associated with the activity currently selected in the Process
Tree.
Movie The name of the movie.
Enables you to delete the selected movie.

Preview Displays movies.

Panel
VCR Enables you to control viewing of the currently selected movie. These controls are
Controls enabled when a movie is selected in the Movie list of the Avi Files area of the Movie
Manager.
Runs the movie from its current location to the start.

Runs the movie from its current location to the end.

Plays the movie.

Pauses the movie.

Winds the movie to the start.

Winds the movie to the end.

Stops the movie.

Closes the Movie Manager dialog box.

Note: Movie Manager saves the current V field settings when you close the dialog
box.

3. In the Process Tree, check the V column of the activities for which you wish to create movies.
This can be a tedious process if you need to include a large number of activities and child activities in
your movie. The following alternative methods are available to speed the selection process:
• Use the toolbar buttons.
• Right-click an activity and select one of the following options

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 4. Click to begin the movie creation process.
The following confirmation message appears:

5. Click OK.
Movie Manager creates the requested .AVI movies. As this can be a time-consuming process, Movie
Manager displays a progress bar.

If you click Cancel, Movie Maker completes the current movie and then aborts.
When Movie Manager has finished creating all the movies, it displays the following message:

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 The name of the AVI files is <operation name>_<creation date>_<creation time>. For
example: 000725/a_01052007_1025.avi.

6. Click OK. Movie Manager displays icons for each movie in the Movie column.

Note
When Stereo 3D viewing mode is enabled, movie output is still in 2D, as before, but performance may
be affected.

You can use the Overlay section in the Movie Recorder Settings dialog box to add overlays to movies that
you record with Movie Manager. In Movie Recorder Settings, you can select the %OperationComment%
overlay parameter, which causes the current simulated operation comment (description) to fill the movie
overlay.

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 View and delete movies

Note
The Text Overlay command (which was independent of Movie Manager) is no longer available.

View and delete movies

To view movies:

• From the Movie list in the Avi Files area of the Movie Manager, select the movie you wish to view and
use the VCR controls to play the movie or locate a specific part of the movie. Movie files can also be
viewed using Attach File.

To delete movies:

• From the Movie list in the Avi Files area of the Movie Manager, select the movie you wish to delete and
click Remove.

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Mfg Attribute Editor

Mfg Attribute Editor

The Mfg Attribute Editor command enables you to set, edit, or remove attributes on a specified Mfg
(Seam Mfg and Weld Point).

Procedure

1. Select an Mfg and choose Mfg Attribute Editor.

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 Attributes are displayed in the order they appear in the xml file (in case of multiple files, files are read
in alphabetical order of their names).
2. Select a Process Type to display all the attributes defined for the selected ProcessType (defined in
XML). This action reloads the values directly from the Mfg (Reset).
3. Set Show undefined attributes to display only attributes that are set on the Mfg, or
clear it to display all the parameters with valid xml syntax defined in the xml files
under ...DotNetCommands\OlpTool\MfgAttributeEditor or SYSROOT\General\MfgAttributeEditor. This
action reloads the values directly from the Mfg (Reset).
4. To copy attributes values from a source Mfg to the selected Mfg:
a. Click Copy From.

b. Select an Mfg.
c. Click OK. The attribute values of the source Mfg are copied into the Mfg Attribute Editor (only
the values of attributes currently displayed in the editor are copied).
d. Click Apply to save the new attributes values on the selected Mfg.
5. Click Reset to reload all values directly from the Mfg.
6. When Propagate to seam operations and weld locations is set, clicking Apply also updates the
mapped robotic parameters on the connected seam operations or weld locations, based on the Mfg
attributes and the mapping file RoboticParametersToMfgAttributes.xml (under SYSROOT\General).
7. Click Close to exit the Mfg Attribute Editor.

• The Mfg Attribute Editor uses XML-based definition files to specify the name and types of the
attributes to be exposed. Possible types are: int, double, and string. The XML definitions file is located
under ...DotNetCommands\OlpTool\MfgAttributeEditor or SYSROOT\General\MfgAttributeEditor.
• The syntax of the attribute definition files is as follows:

<ProcessTypes>
<ProcessType Name="ProcessType1">
<Attributes>
<Attribute Name="paramName" ValueType="string">
<ComboDef>
<ElmDef>elementValue1</ElmDef>
<ElmDef>elementValue2</ElmDef>
<ElmDef>elementValue3</ElmDef>
</ComboDef>

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Move location to TCPF

</Attribute>
<Attribute Name="paramName" ValueType="string">
<ComboDef BuiltFrom="TxRobot"/>
</Attribute>
<Attribute Name="paramName" ValueType="string"/>
<Attribute Name="paramName" ValueType="int" MinVal="minValue"
MaxVal="maxValue" Default="defaultValue"/>
<Attribute Name="paramName" ValueType="double" MinVal="minValue"
MaxVal="maxValue" Default="defaultValue"/>
</Attributes>
</ProcessType>

<ProcessType Name="ProcessType2">
<Attributes>
<Attribute Name="paramName" ValueType="string">
<ComboDef>
<ElmDef>elementValue1</ElmDef>
<ElmDef>elementValue2</ElmDef>
<ElmDef>elementValue3</ElmDef>
</ComboDef>
</Attribute>
<Attribute Name="paramName" ValueType="string"/>
<Attribute Name="paramName" ValueType="double" MinVal="minValue"
MaxVal="maxValue" Default="defaultValue"/>
<Attribute Name="paramName" ValueType="int" MinVal="minValue"
MaxVal="maxValue" Unit="unitString" />
</Attributes>
</ProcessType>
</ProcessTypes>

Note
If the value of BuiltFrom in the ComboDef is not an assembly-qualified but a simple type name, then
by default the Tecnomatix.Engineering assembly is assumed.

Move location to TCPF

The Move location to TCPF command enables you to move a specified location to the TCPF of the assigned
robot.

Procedure

Select a location and run Move location to TCPF.

My next command

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 The system can analyze your past activity (stored in the Enable Product Improvement Program and
Personalization Data) to predict which command you are likely to use next. The system presents four
commands you may wish to use next, and displays them in hexagons in the bottom right corner of the
Graphic Viewer.

To use command prediction:

Procedure

1. Enable My next command via the Customize command.

2. Toggle the command to the On state.
3. Click one of the predicted commands.

The system calculates an index indicating how likely each predicted command is to be the next one you
want to use. You can hover over each command to view this index displayed as a percentage. The icon of
the command most likely to be used is placed in the top hexagon and the others, in descending order, in
the remaining hexagons in the clockwise direction.

You can also launch predicted commands using common keyboard shortcuts. These can be revealed as
follows:

Procedure

1. Move your cursor close to the predicted commands. A keyboard icon appears.

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Process Type for Continuous Mfgs

2. Click the keyboard icon. The prediction icons change to letters, which means you can select one of
the predicted commands by pressing the corresponding letter on the keyboard.

3. Click the blue arrow. The prediction letters change arrows which means you can select one of the
predicted commands by pressing the corresponding arrow on the numeric keypad of your keyboard.

Process Type for Continuous Mfgs

Process Simulate has several types of Continuous Mfgs — while in Teamcenter there is only one: ArcWeld.
You can use the BOM Line Process Type property which is linked to the ArcWeld form in Teamcenter to
differentiate between the different types of Continuous Mfgs in Process Simulate.

The Path Editor displays the various Process values when it is loaded with the Continuous Feature
Operation with ArcWeld assigned to it, using any controller for the assigned robot (the tool must also
be mounted to the robot).

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 Retrieve Selection

Retrieve Selection

The Retrieve Selection option enables you to retrieve a selection list created previously and stored
temporarily in the engineering data. Creating selection lists is described in Save Selection.

Procedure

1. Choose Retrieve Selection .

The Selection dialog box with a list of all selection lists is displayed.

2. Select a selection list. The objects included in the selected selection list are displayed in bold in the
Object Viewer and are selected in the Graphic Viewer.
3. To edit a previously saved selection list, select it, hold down the <Ctrl> key and then from either the
Graphic Viewer or the Object Viewer, select the required objects that you want to add to (or delete
from) the list. Click to update the selection with your changes.
4. You can rename a selection by selecting it in the dialog box, and then pressing F2. You can now edit
the name of the selection (names must be unique).
5. Click Close to close the Selection dialog box.

Note
To delete a selection list, select it and click .

Robot Tracking Viewer

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 Process Simulate enables you to define robot-frame tracking sets in the Robot Tracking Viewer. After
enabling robot tracking mode, Process Simulate reports when the robot is able to reach the frame during
a simulation and when it cannot. Additionally, in the Graphic Viewer, you can see the robot jump to the
frame. For example, if a robot paints a car door while another robot is opening the same door, you can use
the Robot Tracking Viewer to verify that the painting robot is able to reach a selected frame on the door
at all times during the door opening operation.

The Robot Tracking Viewer also automatically displays the object to which the reference frame is
attached. If you select any object to which the reference frame is not attached, Process Simulate prompts
you to attach the frame to the new object.

You can create multiple tracking sets to track multiple robots and frames.

You can enable robot tracking mode even when the Robot Tracking Viewer is closed.

Procedure

1. Choose Robot Tracking Viewer .

The Robot Tracking Viewer appears.

2. Click to create a new robot tracking set.

The New Tracking Set dialog box appears.

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 3. Click in the Robot field and pick the robot to perform tracking.
4. Click in the Reference Frame field and pick a frame for the robot to track.Process Simulate
automatically fills the Tracked Object field with the name of the object to which the Reference
Frame is currently attached, if such exists.
5. Optionally, click in the Tracked Object field and pick an object (to which the Reference Frame is not
attached). Process Simulate prompts you to remove the current attachment and attach the Reference
Frame to the object you picked. Click Yes if you wish to proceed. If you click No, the Reference
Frame is not attached to the Tracked Object. In this case, the robot tracks the Reference Frame but
moving the Tracked Object does not cause the frame to move and the robot remains stationary.
6. Click OK.
The new tracking set is displayed in the Robot Tracking Viewer.

Note
If the Reference Frame is not attached to the Tracked Object, the Robot Tracking Viewer displays
an icon and the following tooltip:

7. Create more tracking sets. You can configure tracking sets for multiple robots to track multiple frames
or the same frame.
8. Optionally, do either of the following:

• Select a tracking set and click to edit it.

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 The Edit Tracking Set dialog box appears.

Edit any of the tracking set parameters and click OK.

• Select a tracking set and click to delete it. The selected tracking set is removed from the Robot
Tracking Viewer.
9. In the left hand column of the Robot Tracking Viewer, check the tracking sets you wish to activate
and clear those you wish to deactivate.

10. Click to toggle the robot tracking mode to On. Click it again to toggle the robot tracking mode to
Off.
When the Tracked Object moves, Process Simulate calculates (using robot inverse calculation)
whether the robot can reach the Reference Frame. If the robot can reach the Reference Frame, the
robot moves its TCPF to the Reference Frame and moves together with the frame. Process Simulate
continues to calculate the robot's reach and when the frame moves out of the robot's reach, the robot
stops moving and remains where it is. Additionally, whenever the robot can reach the frame, the
Robot Tracking Viewer displays Yes in its Reach column, otherwise, it displays No.

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 Save Selection

Note
• Typically, the Reference Frame is attached to the Tracked Object. Therefore, it is sufficient to
move the Tracked Object to observe robot frame tracking. If, however, the frame is not attached
to the Tracked Object, moving the Tracked Object does not cause robot frame tracking — it is
necessary to move the Reference Frame.
• Any Process Simulate action that moves the Tracked Object (assuming the Reference Frame is
attached) causes robot frame tracking. For example, running a simulation or running placement
command.

• You can add the icon to the Process Simulate toolbar. This enables you to activate/deactivate
robot frame tracking when the Robot Tracking Viewer is closed. This is sufficient to view a robot
tracking a frame in the Graphic Viewer. However, if you wish to view visual cues (Yes or No) or
make changes to tracking sets, you must launch the Robot Tracking Viewer.
• Tracking sets are considered engineering data and Process Simulate saves them for future
sessions.

Save Selection

The Save Selection option is an editing tool that enables you to create a list of objects and store the
list temporarily as a selection list. You can recall the selection list at a later time during your work in the
current engineering data. You can create as many selection lists as required and include the same object in
different lists. Exiting the application deletes all the selection lists created in the engineering data.

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 Procedure

1. Select the objects that you want to include in the selection list, in either the Graphic Viewer or the
Object Viewer, and then choose Save Selection .
The Save Selection dialog box is displayed.

2. In the Name field, enter a name for the selection. By default, all selections are named selection.
3. In the Description field, enter a description for the selection, if required.
4. Click OK. The selection is created and stored temporarily in the engineering data. You can retrieve the
selection at any time, as described in Retrieve Selection.

Select Frames of Tasks

The Select Frames of Tasks option is available when you right click an operation in the Graphic Viewer or
Object Viewer. This option enables you to select all the frames and the locations of a selected operation,
including all the sub-operations. After all the frames and locations have been selected, you can change
their color, if required. You can also change the position of the selected frames and locations with the
Placement Manipulator or relocate them with the Relocate tool.

• To select all the frames and locations in an operation, select an operation in the Graphic Viewer or in
the Object Viewer, and then select Select Frames of Tasks. All the frames and the locations of the
selected operation are selected.

Stop Envelope

If a robot unexpectedly terminates its motion, it may deviate from the planned path. For example, in
the case of severe software or hardware failure, the robot executes a category 0 stop (stop 0). This is
an uncontrolled stop due to immediate termination of power to the machine actuators. The robot may
continue to move and deviate from its planned path due to inertia until it actually stops moving.

The Stop Envelope tool creates a graphic volume envelope that enables you to check the robot's possible
motion in such a case along its entire path. You can use the calculated volume, for example, to verify that
the robot does not collide with its safety enclosure.

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 Note
Currently, the Stop Envelope tool only supports robots manufactured by Kuka with system software 8.5
or later and Fanuc.

You construct the Stop Envelope by creating resource spheres and attaching them to the robot and/or its
tool or using the Safety Robots Manager and noting all the possible places the spheres can reach during
simulation.

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 Using a greater number of smaller spheres (up to a maximum of 12 spheres) gives a more accurate result
but consumes more computing resources.

Note
Before proceeding, you must initialize the current robot controller. For information, refer to Initialize
RCS in Controller Settings.

Procedure

1. Using the Attach command, attach the required spheres to the robot.
2. Choose Stop Envelope.
The Stop Envelope dialog box is displayed:

3. Set Start location and End location by picking locations of the current operation for which to
calculate possible stop motions. If you select just part of an operation, the calculation runs faster.

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 Alternatively, pick an operation and then its first and last locations are automatically used. However,
selecting an entire operation increases the computing resources required to perform the calculation.
4. In Safety spheres scope, pick the parent item of the spheres you are using.
5. In Result scope, pick an item under which to store the result. This item must be open for modeling,
run Set Modeling Scope if necessary.
6. In Stop type, select one of the following types of robot stop you wish to calculate.
• Stop category 0—In a stop 0, robot motion ends abruptly because of power removal to its
machine actuators. This includes robot short-circuit brake torque and mechanical brake torque
stops. This is an uncontrolled stop.
• Stops overshooting path—This includes all stops deviating from the planned path, including
uncontrolled stops (category 0 stops) and controlled stops (stop categories 1 or 2) where electrical
power to the machine actuators is maintained to achieve the stop, but is terminated at the end of
the stopping process.
7. Set the desired accuracy:
• Accurate—RCS uses several internal robot conditions for an accurate calculation. Use this option
after you have finalized all the other parameters in your simulation.
• Fast—RCS uses a single internal robot condition with a high safety margin for a quick calculation.
Use this option to get a general idea of what might happen.
8. Set the Sampling rate. This parameter affects stop envelope accuracy and calculation time. Modify
this value according to your needs.
9. Click Create.
The system runs the simulation in the background, and notes all the places which the robot is able to
access, where each lobe in the volume represents the calculation result at one time interval. The total
of all these places is displayed as a dark red volume. Depending on the parameters you have set, this
process may be time-consuming.

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 Note
• While simulating the operation, the system simulates dynamic effects (inertia, brake torques, etc.)
during an uncontrolled stop to imitate motion deriving from the robot's inertia, especially when
changing direction.
• After performing the calculation, the fields in the dialog box are empty, enabling you to set the
parameters required for the next calculation.

Tracking Objects on Conveyors

In Line simulation mode, you can define a robot line tracking mechanism to enable simulated robots to
track objects moving on a conveyor. This can be used, for example, when simulating the painting of parts.

Note
Robot-Conveyor Tracking is only supported by RRS-enabled controllers, for example ABB Rapid.

Robot-Conveyor Tracking is implemented by using the following signal pair:

• Part detection signal - ConveyorPosition

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 • Robot start signal - ConveyorTrigger

A conveyor is associated with the part detection (ConveyorPosition) signal. This robot signal tracks and
dynamically updates the position of the part as it progresses along the conveyor. When the robot start
(ConveyorTrigger) signal is high, the robot tracks the object on the defined conveyor. You can define up
to four signal pairs. For information on how to create signals and associate robot conveyor tracking signals
with conveyors, refer to View conveyor tracking signals.

To track objects on a conveyor:

Procedure

1. Select an RRS-enabled controller for the robot - refer to To select a robot conveyor.
2. Create robot start and part detection signals - refer to Connect between PLC and OLP signals in
robots.

Note
It is possible to create up to four pairs of robot tracking signals. However, if you create more than
one pair, the resulting simulation may be complex and not useful.

3. Configure logic for the signals you created - refer to Create Logic Resource.
4. Connect the logic outputs of the logic blocks you created to the signals - refer to Connect Signals
Logic Resources.
5. View View conveyor tracking signals to verify your configuration.

Track Object on Conveyor - Workflow Example

The following is an example of the workflow for tracking objects on conveyors:

Procedure

1. Define the conveyor (in the event-based simulation mode).

a. Select the conveyor instance and choose Modeling tab → Scope group → Set Modeling Scope.
b. Select the conveyor instance and choose Control tab → Conveyor group → Define as
Conceptual Conveyor.
c. In the Define Conceptual Conveyor, set the following parameters and click OK.
• Conveyor Path - Click the upstream and downstream position on the conveyor
• Moving Surface - Retain the default values

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 • Skid Conveyor - Clear the checkbox
• Max Speed - 1000 mm/s
The system creates pathStartFrame and pathEndFrame component frames.
The system creates a movingSurface component entity.

d. Select the conveyor instance and choose Modeling tab → Scope group → End Modeling .
2. Define the conveyor logic block.
a. Select the conveyor instance and choose Modeling tab → Scope group → Set Modeling Scope

.
b. Select the conveyor instance and choose Control tab → Conveyor group → Edit Conveyor

Logic Behavior .
c. From the Supported Actions list, check Start.
d. Select the conveyor instance and choose Control tab → Resource group → Edit Logic Resource
.
• Create the following new entries: [bool] Start, [real] TargetSpeed, and [real] StartPosition.
• Create the following new constant: [real] 10 with value 10.
• Create the following new parameter: [real] conv_delta_pos with expression value
(conv_delta_pos + (TargetSpeed / 10)) * Start.
• Create the following new exits: [real] ConvPos with expression value StartPosition +
conv_delta_pos and [bool] Started with expression value curr_start.

Note
Ensure that the Conveyor Trigger signal remains True through the entire conveyor
simulation. If this is not so, the system sends SET_CONVEYOR_POSITION 0.

e. Select the conveyor and choose Modeling tab → Scope group → End Modeling .
3. Create conveyor robot signals.

a. Select the robot and choose Control tab → Robot group → Robot Signals .
b. Create a new output signal with the following parameters:
• PLC Signal Name: r1_ConvStart
• Robot Signal Name: ConvStart
• Signal Function: ConveyorTrigger_1

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 Tecnomatix VRC servers

Note
Ensure that the Conveyor Trigger signal remains True through the entire conveyor
simulation. If this is not so, the system sends SET_CONVEYOR_POSITION 0.

c. Create a new output signal with the following parameters:

• PLC Signal Name: r1_ConvPos
• Robot Signal Name: ConvPos
• Signal Function: ConveyorPosition_1
4. Connect the conveyor logic block to key signals and robot input signals.
• Select the conveyor instance and choose Control tab → Resource Logic group → Connect Signals
to Logic Resource .
• Perform the following:
◦ Select Entries / Start - Create Signal / Key Signal: key_conv_no_kin_ConvStart
◦ Select Entries / TargetSpeed - Create Signal / Key Signal: key_conv_no_kin_TargetSpeed
◦ Select Entries / StartPosition - Create Signal / Key Signal: key_conv_no_kin_StartPosition
◦ Select Exits / ConvPos - Select existing r1_ConvPos signal
◦ Select Exits / Started - Select existing r1_ConvStart signal

Note
Ensure that the Conveyor Trigger signal remains True through the entire conveyor simulation.
If this is not so, the system sends SET_CONVEYOR_POSITION 0.

5. Set the conveyor object association.

a. Choose Robot tab → Setup group → Robot Properties .

b. In the Conveyors tab, access Conveyor Association and select the conveyor object in the
study.

Tecnomatix VRC servers

Tecnomatix ABB VRC Manager

The ABB VRC Manager VRC does not require an external graphical simulation application (for example,
RobotStudio). The ABB controller engine is used to drive the applicable robots in Process Simulate, based
on its backup programs and modules.

To use the ABB VRC Manager, proceed as follows:

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 Procedure

1. Install the appropriate Process Simulate license.

2. Download and install the latest ABB controller.
3. Download and install ABB_VRC_Manager_v1.4 or higher.
4. Define the relevant robot as a VRC.

5. Run the ABB VRC Manager. The Host, Port, and VRC Name must match the details in the controller
settings and the robot must be started.

6. In Process Simulate, access Robot Setup > VRC Connection and set Connection type to VRC
Manager.

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Import ABB VRC customizations

The ABB VRC Manager can import OLP commands, customized motions, and custom data from the robot
backup as custom XML files.

Note
Process Simulate is installed by default in the Program Files folder, and Windows requires administrator
rights to write there. Therefore, you must run Process Simulate as an administrator to perform the
import.

Procedure

1. Pick a robot and set it to ABB.

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 2. Choose ABB Read VRC Configuration .
Process Simulate downloads the following three configuration files from the ABB RobotStudio and
names them after the specified robot:
• Motion configuration
• OLP configuration
• Data types
3. Use the VRC Configuration dialog box to control the mapping between the ABB and Process Simulate
motion types.

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 By default, all motion types are set Via. For example, if you set two motion types to Via;

the Process Type dropdown list offers just those two motion types when you click a via location.

Note
If you repeat this action, for example after a new version of RobotStudio has been released, Process
Simulate saves copies of your current files, but merges parameter customizations you may have
made with the new files.

4. Pick a robot and set it to ABB if necessary.

5. Choose ABB Read VRC Configuration .

Process Simulate downloads the following three configuration files from the ABB RobotStudio and
names them after the specified robot:
• Motion configuration
• OLP configuration
• Data types

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 Note
If you repeat this action, for example after a new version of RobotStudio has been released, Process
Simulate saves copies of your current files, but merges any parameter customizations you may have
made with the new files.

After importing ABB VRC customizations

• When you add OLP commands via the Teach Pendant, the imported commands are now also available.

• When you add motions via the Path Editor, the imported motions are now also available.

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Tecnomatix VRC Server ABB Real Time

Tecnomatix VRC Server ABB Real Time

ABB Virtual Robot Controller

When performing virtual commissioning with ABB robots, you can establish and use a connection between
Process Simulate and the RobotStudio application to simulate a complete Virtual Robot Controller (VRC).

Process Simulate reads and writes information from and to RobotStudio, including joint values, signal
values, and more, to enable the simulation to visualize and interact with the VRC.

Note
To simulate a VRC, you must run Process Simulate in Line Simulation mode.

ABB VRC software requirements

The following is a list of the software requirements for using Tecnomatix Virtual Robot Controller (VRC)
Server for ABB robots:

• Siemens
◦ Process Simulate (version 16.0 or higher)
◦ ABB-Rapid OLP controller (latest)
◦ Tecnomatix VRC Server ABB Real Time (latest)
• ABB

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 Setting up the VRC ABB Environment

◦ RobotStudio version 2020 (or higher)

Note
The ABB-Rapid OLP Controller, VRC Server, and RobotStudio versions must match or the application will
fail. For more version compatibility information, refer to the VRC Server log in the Siemens Support
Center download section.

Setting up the VRC ABB Environment

Set up Process Simulate

Ensure that the names of the robots running in Process Simulate match those of the robots in the Virtual
Robot Controller (VRC) running in RobotStudio.

If the robot name in Process Simulate and the Controller name in RobotStudio do not match and
you do not want to rename one of them, create a new string parameter in Process Simulate called
OLP_VRC_NAME on the relevant robot instance and set it to the RobotStudio Controller Name. When
Process Simulate attempts to find a matching VRC instance for the robot, it tries doing so using the
Parameter value in addition to the robot's name. In this case, either <Robot Name> in Process Simulate or
<Value of OLP_VRC_NAME> must match a VRC instance name.

Create OLP_VRC_NAME

Procedure

1. Create a new folder RobotParameterEditor in the Abb-Rapid folder at \eMPower\Robotics\OLP\.

2. Enter the following in a new file (for example, VRC_Settings.xml), or append it to an existing robot
parameter file:<RobotController Name="Abb-Rapid">
<RoboticParams>
<Param Name="OLP_VRC_NAME" ValueType="String" />

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Set robots to VRC mode

</RoboticParams>
</RobotController>
3. Create the new parameter for each robot, as follows:
a. In Process Simulate, select a robot and run the Robot Parameter Editor.

b. Set Show undefined parameters if you do not see the parameter in the list.
c. Set the controller Name to the name used in RobotStudio.
d. Click OK.

Set robots to VRC mode

To set up a single robot, proceed as follows:

Procedure

1. Right-click a robot instance and select Robot Properties.

2. Click the Controller tab.

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 Note
The other parameters in the Robot Properties (or Controller Settings) do not affect Virtual Robot
Controller (VRC) simulation.

3. Set Controller to Abb-Rapid.

4. Change Motion Planner to VRC.
5. Click Close.

To set up multiple robots, proceed as follows:

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 Procedure

1. Access Controller Settings.

2. For every robot instance to be connected to a VRC instance, set the Controller to Abb-Rapid and
Motion Planner to VRC.

Note
You can right-click the column header and select Set all to VRC to change the Motion Planner
setting for all the robots in the table with a single action.

For each robot, set the VRC connection parameters, as follows:

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 Procedure

1. For each robot set to VRC mode, open Robot Setup and click VRC Settings.
2. From Tecnomatix VRC Server ABB Real Time, copy the Port number into VRC Connection.

Note
Each robot instance in Process Simulate (and therefore each VRC instance) requires a unique port.

3. Enter a Program pointer name in the VRC Connection dialog box. Once Simulation commences,
Process Simulate sets the VRC program pointer to indicate a procedure with the same name, and
moves the VRC to the same position as that of the robot in Process Simulate.
If you leave this field empty, no initial robot position is sent to RobotStudio, and the VRC simulation
starts from the current RobotStudio program pointer position.

Note
In Tecnomatix versions 16.0 and earlier, the program pointer does not exist. For information on
how to set the program entry point in this case, refer to Set program entry points for Tecnomatix
versions 16.0 and earlier.

In RobotStudio, the program or module must exist as a global procedure nested under the robot’s
TASK1.
4. To test the connection for a robot instance, click Test Connection in the VRC Connection dialog box.
If the test succeeds, the following message is displayed:

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 The test also checks if the Program pointer is valid (exists in the current RobotStudio cell).
If the test fails, an error message is displayed with instructions for resolving the problem.

Note
Process Simulate communicates with external devices using the bit order (numbering scheme) of the
external device. If you have created a conversion matrix to convert the bit order manually, this is
likely to cause a mismatch when communicating via Process Simulate. Therefore, it is recommended to
remove the conversion matrix at the source. Alternatively, you can create a reverse conversion in Process
Simulate so that the communication flows correctly between the two external devices.

Program entry points for Tecnomatix versions 16.0 and earlier

When the simulation is triggered, each Virtual Robot Controller (VRC) instance receives its entry point (an
instruction where to place the program pointer on start) from Process Simulate.

To set this up, you must create an operation for each robot in Process Simulate to serve as this entry
point. The operation serves to initiate communication between Process Simulate and RobotStudio and its
name serves as the Program Pointer. On Simulation Play, RobotStudio starts executing from the program
or module that has the exact same name. If it cannot find the specified program, the following message is
displayed in the Simulation Monitor:

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 Set up RobotStudio

In Process Simulate, the operation you created must be the first operation triggered in Line Simulation
Mode. In the following example, the MAIN operation is located under the LineOperation root.

If this operation is assigned to a robot configured for a VRC connection, then when playing a simulation, it
searches for a program or module titled MAIN and starts to run it in the VRC.

Note
• In RobotStudio, the program or module must exist as a global procedure nested under the robot’s
TASK1.
• The operation can be completely empty (no OLP commands or locations) or it may have information
nested under it, but the robot only executes code stored in RobotStudio.
• You can use the Process Simulate Upload Programs and Download to Robot commands to exchange
programs between Process Simulate and RobotStudio.

Set up RobotStudio

Procedure

1. Launch RobotStudio.
2. Open the station.
3. Wait for the RobotStudio virtual controller to finish booting. This is when the State is shown as
Started.

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Set up Tecnomatix VRC Server ABB Real Time

Set up Tecnomatix VRC Server ABB Real Time

The Tecnomatix Virtual Robot Controller Server ABB Real Time handles communication between Process
Simulate and the RobotStudio VRC. The server allows executing robot programs using the ABB VRC
included in RobotStudio while connecting to Process Simulate for simulation of entire stations or lines.
The server can handle multiple robots, but Siemens recommends using multiple servers for simulating
multiple robots, preferably one server for each robot.

Note
When you use the same number of servers and robots, each robot instance in Process Simulate (and
therefore each Virtual Robot Controller (VRC) instance) requires a unique port to be specified in its server
and robot settings.

To run the server:

Procedure

1. Double-click TecnomatixVrcServerAbbRealTime.exe to launch the server.

Or
Open a command prompt and run

TecnomatixVrcServerAbbRealTime [/port:portNumber] [/size:WidthxHeight]

[/location:XxY] [/minimized] [/pulse:onOff] [/blink:onOff] [/start]

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 where:
• /port Specifies the port number to use. The default port number is: 8523.
• /size Sets the size of the dialog box. The default size is: 506x336.
• /location Positions the dialog box.
• /minimized Minimizes the dialog box when it opens.
• /pulse Turns the Extended Pulse option on or off.
• /blink Turns the Active Blinker option on or off.
• /start Auto-starts the server.
• TecnomatixVrcServerAbbRealTime /h Displays a summary of the possible options.
Tecnomatix VRC Server ABB Real Time starts:

2. Click Start or Stop to start or stop the server:

• Click Start to start the server before playing the simulation in Process Simulate.
Process Simulate connects to the ABB VRC Tecnomatix Server when simulation starts.
• Click Stop to stop the server after stopping the simulation in Process Simulate (after you Pause
or Pause and Reset it). Do not stop the ABB VRC Tecnomatix Server while the simulation is
running in Process Simulate, as in this case Process Simulate continues searching for the server in a
non-ending loop.
The main area of the server window displays a log of server activity, such as the connection to any
VRC instance, including robot initialization positions. Errors encountered during initialization are also
displayed and highlighted in red.
During simulation, the log display lists call exchanges between Process Simulate and the VRC, such as
GetNextStep calls and IO (signal) exchange.
3. (Optional) Click Clear to clear the main display or Export to save the log to a text file.

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 4. You can click Settings to adjust the following server functions.

• Show Blinker—When set, the symbol is displayed. It blinks when the server receives robot
position requests.

• Extended Pulse—As the simulations in Process Simulate and RobotStudio are not 100%
synchronized, there is a chance of skipping events of brief duration, such as short Pulses. Setting
Extended Pulse causes pulse duration to last longer than the Process Simulate GetNextStep
period, ensuring the simulation registers it and reacts accordingly.
When Extended Pulse is set, the server maintains the pulse value until the next read request from
Process Simulate, as illustrated in the following diagram.

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 However, a pulse can change a number of times within the span of a single GetNextStep, in which
case:
◦ If the signal value changes only once, the server returns its value in the current GetNextStep.
◦ If the signal value changes twice between GetNextStep calls, the server returns the first value in
the current GetNextStep and the second value in the next GetNextStep.
◦ If the signal value changes three or more times between GetNextStep calls, the server returns
the next-to-last value in the current GetNextStep and the last value in the next GetNextStep.
All other values are ignored.

To run multiple servers:

Procedure

1. Launch a command prompt, type start.bat and press Enter.

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 2. Set the number of servers.

3. Specify the port number for the first server.

4. Specify whether to start the VRC servers in minimized windows.The specified number of servers
open, each in its own window.

Note
It is recommended to create simple batch files to run VRC servers easily. An example batch file (start.bat)
that runs a specified number of servers with incrementing port numbers is available in the installation
folder of the VRC server.

Run simulation in Process Simulate

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 Procedure

1. In RobotStudio, verify all the robot controllers are up and running. Refer to RobotStudio Setup.
2. Start all the Virtual Robot Controller (VRC) Servers.
3. Load a study in Process Simulate in Line Simulation mode. If necessary, right-click the LineOperation
in the Object Viewer and select Set as current operation. The LineOperation is added to the
Sequence Editor.
4. Play the simulation in the Sequence Editor.You can use the following simulation controls: Start,
Pause, Resume, and Rewind.

When playing the simulation, Process Simulate performs the following:

• Connects to the Tecnomatix Virtual Robot Controller (VRC) Server ABB Real Time.
• Updates RobotStudio with the current robot position in Process Simulate (Set Initial Position).
• Instructs RobotStudio to run the first operation nested under the LineOperation.
• At the end of every time interval, Process Simulate:
◦ Instructs RobotStudio to advance its clock by the amount of time that has passed.
◦ Reads the robot's new joint positions from RobotStudio.
◦ Updates RobotStudio with changes in robot input signals.
• At the end of every time interval, RobotStudio updates Process Simulate with changes in robot output
signals. Only signals that have changed during the last step are updated.

Note
The Process Simulate operation content is ignored; only the RobotStudio operation is used for the
simulation.

Tecnomatix VRC Server ABB Real Time known limitations

• The Simulation Monitor shows the current instructions and status of the Virtual Robot Controller (VRC),
but due to the Real Time nature of the VRC, some messages may be skipped.
• Because the robot program is running entirely in the Virtual Robot Controller (VRC), you cannot use
hash-tag OLP commands such as #Blank or #Attach during simulation. In order to trigger actions such
as gripping or displaying parts, use Logic Blocks or SCL Blocks and connect them to the relevant robot
signals.

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Tecnomatix VRC Server Fanuc

• When running version 16.0.1, Process Simulate on Teamcenter users must create an operation, assign
it to the robot, and place it first (refer to Program entry points for Tecnomatix versions 16.0 and
earlier) in the Object Viewer in order to start the virtual robot.

Tecnomatix VRC Server Fanuc

Fanuc Virtual Robot Controller

When performing virtual commissioning with Fanuc robots, you can establish and use a connection
between Process Simulate and the RoboGuide application to simulate a complete Virtual Robot Controller
(VRC).

Process Simulate reads and writes information from and to RoboGuide, including joint values, signal
values, and more, to enable the simulation to visualize and interact with the VRC.

Note
To simulate a VRC, you must run Process Simulate in Line Simulation mode.

Fanuc VRC software requirements

The following is a list of the software requirements for using Tecnomatix Virtual Robot Controller (VRC)
Server for Fanuc robots:

• Siemens
◦ Process Simulate (version 16.0 or higher)
◦ Any Fanuc OLP controller (latest)
◦ Tecnomatix VRC Server Fanuc (latest)
• Fanuc
◦ CAMConnection package including RoboGuide – v9.
You can obtain the RoboGuide software package by contacting your local Fanuc representative and
requesting one of the following:
◊ Fanuc RoboGuide (A08B-9410-J605) and Fanuc RoboGuide/ Cam Connection PC option
(A08B-9410-J568)
◊ RoboGuide/ Cam Connection package (A08B-9410-J684)

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 Setting up the VRC Fanuc environment

Note
The Fanuc OLP Controller, VRC Server, and CamConnection versions must match, or the application will
fail. For more version compatibility information, refer to the VRC Server log in the Siemens Support
Center download section.

Setting up the VRC Fanuc environment

Set up Process Simulate

Ensure that the names of the robots running in Process Simulate match those of the robots in the Virtual
Robot Controller (VRC) running in RoboGuide.

If the robot name in Process Simulate and the Controller name in RoboGuide do not match and you do not
want to rename one of them, create a new string parameter in Process Simulate called OLP_VRC_NAME
on the relevant robot instance and set it to the RoboGuide Controller Name. When Process Simulate
attempts to find a matching VRC instance for the robot, it tries doing so using the Parameter value
in addition to the robot's name. In this case, either <Robot Name> in Process Simulate or <Value of
OLP_VRC_NAME> must match a VRC instance name.

Create OLP_VRC_NAME

Procedure

1. Create a new folder RobotParameterEditor in the Fanuc folder at \eMPower\Robotics\OLP\.

2. Enter the following in a new file (for example, VRC_Settings.xml), or append it to an existing robot
parameter file:<RobotController Name="Fanuc">
<RoboticParams>
<Param Name="OLP_VRC_NAME" ValueType="String" />
</RoboticParams>
</RobotController>
3. Create the new parameter for each robot, as follows:

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Set robots to VRC mode

a. In Process Simulate, select a robot and run the Robot Parameter Editor.

b. Set Show undefined parameters if you do not see the parameter in the list.
c. Set the controller Name to the name used in RobotStudio.
d. Click OK.

Set robots to VRC mode

To set up a single robot, proceed as follows:

Procedure

1. Right-click a robot instance and select Robot Properties.

2. Click the Controller tab.

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 3. Set Controller to Fanuc.
4. Change Motion Planner to VRC.
5. Click Close.

To set up multiple robots, proceed as follows:

Procedure

1. Access Controller Settings.

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 2. For every robot instance to be connected to a Virtual Robot Controller (VRC) instance, set the
Controller to Fanuc and Motion Planner to VRC.

Note
You can right-click the column header and select Set all to VRC to change the Motion Planner
setting for all the robots in the table with a single action.

• If each robot of a Process Simulate study is connected to the same Roboguide (i.e., installed on the local
or remote machine), you only need to run one TecnomatixVrcServerFanuc.exe.
• If the robots are connected to two or more Roboguides (which in this case, would need to be installed
on different remote machines), you should run TecnomatixVrcServerFanuc on each machine where
Roboguide is installed.

For each robot, set the VRC connection parameters, as follows:

Procedure

1. For each robot set to VRC mode, open Robot Setup and click VRC Settings.
2. From Tecnomatix VRC Server Fanuc, copy the Port number into VRC Connection.

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 3. Run the program in one of the following ways;
• Enter the name of a Process Simulate program in the Program pointer field in the VRC Connection
dialog box to start robot simulation according to the specified program.
• Leave the Program pointer field in the VRC Connection dialog box empty to start robot simulation
by a remote signal from Process Simulate. Refer to Start robot simulation by remote signal.

When simulation has commenced, Process Simulate sets the VRC program pointer to indicate a
module with the same name and moves the VRC to the same points as the robot in Process Simulate.
If the Program Pointer is invalid, an error is reported in the Simulation Monitor.

Note
In Tecnomatix versions 16.0 and earlier, the program pointer does not exist. For information on
how to set the program entry point in this case, refer to Program entry points for Tecnomatix
versions prior to 16.0.1.

In RoboGuide, the program or module must exist in the Programs section.

4. To test the connection for a robot instance, click Test Connection in the VRC Connection dialog box.
If the test succeeds, the following message is displayed:

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 If the test fails, an error message is displayed with instructions for resolving the problem.

Note
Process Simulate communicates with external devices using the bit order (numbering scheme) of the
external device. If you have created a conversion matrix to convert the bit order manually, this is
likely to cause a mismatch when communicating via Process Simulate. Therefore, it is recommended to
remove the conversion matrix at the source. Alternatively, you can create a reverse conversion in Process
Simulate so that the communication flows correctly between the two external devices.

Program entry points for Tecnomatix versions prior to 16.0.1

When the simulation is triggered, each Virtual Robot Controller (VRC) instance receives its entry point (an
instruction where to place the program pointer on start) from Process Simulate.

To set this up, you must create an operation for each robot in Process Simulate to serve as this entry
point. The operation serves to initiate communication between Process Simulate and RoboGuide and its
name serves as the Program Pointer. On Simulation Play, RoboGuide starts executing from the program or
module that has the exact same name. If it cannot find the specified program, the following message is
displayed in the Simulation Monitor:

In Process Simulate, the operation you created must be the first operation triggered in Line Simulation
mode. In the following example, the MAIN operation is located under the LineOperation root.

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 Set up RoboGuide

If this operation is assigned to a robot configured for a VRC connection, then when playing a simulation, it
searches for a program or module titled MAIN and starts to run it in the VRC.

Note
• The operation can be completely empty (no OLP commands or locations) or it may have information
nested under it, but the robot only executes code stored in RoboGuide.
• You can use the Process Simulate Upload Programs and Download to Robot commands to exchange
programs between Process Simulate and RoboGuide.

Set up RoboGuide

If you want the Virtual Robot Controller (VRC) server to run RoboGuide when it starts, proceed directly to
Set up the Tecnomatix VRC Server Fanuc.

Procedure

1. Launch RoboGuide if you want the server to connect to a session of RoboGuide that is already
running.
2. Open a workcell.
3. Wait for the RoboGuide to finish loading all the VRCs in the workcell.RoboGuide is now ready to
perform the connection.

Set up the Tecnomatix VRC Server Fanuc

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 Double-click TecnomatixVRCServerFanuc.exe to launch the server.

Note
The Tecnomatix Virtual Robot Controller (VRC) Server Fanuc must run on the same machine as
RoboGuide.

Procedure

1. Define the Port over which the server communicates.

2. Select a Workcell (.frw or .wpw).
The server loads RoboGuide and launches this workcell when it starts up.
You can change a loaded RoboGuide workcell without closing the server. RoboGuide closes and
reopens with a new workcell.

Note
If you want the server to connect to the RoboGuide workcell that is already running, leave Workcell
empty.

3. Click Start or Stop to start or stop the server.

a. Start the server before playing the simulation in Process Simulate.
Process Simulate automatically connects to the Tecnomatix VRC Server Fanuc. RoboGuide opens
in batch execution mode and runs in the background (hidden from view). If there are no errors,
the Service is running message is displayed.

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 b. When RoboGuide is started by pointing to a workcell, it is automatically minimized. To bring

RoboGuide into the foreground, click .

c. Always stop the server after ending the simulation in Process Simulate (after Pause or Pause
and Reset).
Do not stop the Tecnomatix VRC Server Fanuc while a simulation is running in Process Simulate,
as this may cause Process Simulate to freeze.
4. Click Clear if you wish to clear the display.
5. ShowLog: open created RGI_wrapper_<port>.dbg under a temporary folder defined by the
environment variables %TMP% and %TMPDIR% if the corresponding option in Settings was checked:
• To open this file, it is necessary for the simulation to have been previously stopped.

Note
Upon server start, the currently existing RGI_wrapper_<port>.dbg is renamed to
RGI_wrapper_<port>.dbg.bak before new file creation.

6. (Optional) Click Settings .

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 You can configure the following settings:
• Run background logic—When set, the VRC starts and executes the robot’s background logic.
When cleared, all background logic stops, even when the robot is started.
• Create debug file—Creates a low level debug file with details about server activity, such as the
connection to any VRC instance including the robot’s initialization to its initial position; and motion,
signal, and alarm information. Errors encountered during initialization are also displayed and
highlighted in red. The debug file is named RGI_Wrapper_<port>.dbg and is placed in a temporary
folder defined by the environment variables %TMP% and %TMPDIR%.
During simulation the log displays call exchange between Process Simulate and the VRC, such as
GetNextStep calls and IO (signal) exchange.

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 VRC Teach Pendant

• Show Blinker—When set, the symbol is displayed. It blinks when the server receives robot
position requests.

• Refresh RG display—When set, you can see the RoboGuide robot move with the Process Simulate
robot. For improved performance deactivate this option and only reactivate it when required.

Note
The current state of the settings is shown in the log file.

VRC Teach Pendant

You can use the new VRC Teach Pendant command to open the RoboGuide Teach Pendant on top
of Process Simulate, for Fanuc robots that have been configured with the VRC Motion Planner (from
Robot Properties). This is enabled when the corresponding TecnomatixVrcServerFanuc is connected to
RoboGuide.

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Run simulation in Process Simulate

Run simulation in Process Simulate

Procedure

1. Launch Process Simulate and load a study in Line Simulation mode. If necessary, right-click the
LineOperation in the Object Viewer and select Set as current operation. The LineOperation is
added to the Sequence Editor.
2. Play the simulation in the Sequence Editor. You can use the following simulation controls: Start,
Pause, Resume, and Rewind.

When you play the simulation, Process Simulate performs the following:

• Connects to the Tecnomatix Virtual Robot Controller (VRC) Server Fanuc.

• Updates RoboGuide with the current robot position in Process Simulate (Set Initial Position).
• Instructs RoboGuide to run the first operation nested under the LineOperation.
• At the end of every time interval, Process Simulate:
◦ Instructs RoboGuide to advance its clock by the amount of time that has passed.
◦ Reads the robot's new joint positions from RoboGuide.
◦ Updates RoboGuide with changes in robot input signals.
• At the end of every time interval, RoboGuide updates Process Simulate with changes in robot output
signals. Only signals that have changed during the last step are updated.
• The Process Simulate operation content is ignored; only the RoboGuide operation is used for the
simulation.

You can see which line is currently being executed in RoboGuide by viewing the Process Simulate
Simulation Monitor.

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 Start robot simulation by UI remote signals

Start robot simulation by UI remote signals

Note
• This feature works in Process Simulate version 16.1 and onwards.
• The Program pointer field in the VRC Connection dialog box must be empty to trigger robot
simulation by a remote signal from Process Simulate.

There are two modes to set the entry point when triggering robot simulation by a remote signal:

• Mode1 by RoboGuide—The program entry point is dictated by a RoboGuide internal selection.

• Mode2 fixed entry points—The program entry points are PNS<0001>TP program to PNS<0255>TP
program in RoboGuide.
◦ Setting UI[16..9] signals representing 8 bits for PNS program selection from 1 to 255. For example,
to start PNS0001 program set UI[9] to ON, to start PNS0006 program set UI[10] and UI[11] to ON, to
start PNS0067 program set UI[15], UI[10] and UI[9] to ON.
◦ Create UI[17] robot input signal in Process Simulate and trigger it ON and OFF (or OFF and ON,
depending on edge detection sense) to confirm selection of the PNS program

For both modes, create UI[18] robot input signal in Process Simulate and trigger it ON and OFF (or OFF and
ON, depending on edge detection sense) to run simulation.
Simulation run is confirmed internally in RoboGuide when the UO[10] robot signal is set to ON.
Simulation is stopped internally in RoboGuide when the UO[10] robot signal is reset to OFF.

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Edge Detection Sense for the Remote Trigger Signal

Edge Detection Sense for the Remote Trigger Signal

When simulation begins, the log file indicates the edge detection sense for the remote trigger signal.

In this example, simulation starts on the falling edge of the relevant signal, and is reset on the rising edge
of the relevant signal.

Tecnomatix VRC Server Fanuc known limitations

• Because the robot program is running entirely in the Virtual Robot Controller (VRC), you cannot use
hash-tag OLP commands such as #Blank or #Attach during simulation. In order to trigger actions such
as gripping or displaying parts, use Logic Blocks or SCL Blocks and connect them to the relevant robot
signals.
• When running version 16.0.1, Process Simulate on Teamcenter users must still create an operation,
assign it to the robot, and place it first (refer to Program entry points for Tecnomatix versions 16.0
and earlier) in the Object Viewer in order to start the virtual robot.

Tecnomatix VRC Server Kuka Real Time

Kuka Virtual Robot Controller

When performing virtual commissioning with Kuka robots, you can establish and use a connection
between Process Simulate and the Kuka.OfficeLite application to simulate a complete Virtual Robot
Controller (VRC).

Process Simulate reads and writes information from and to Kuka.OfficeLite, including joint values, signal
values, and more, to enable the simulation to visualize and interact with the VRC.

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 Kuka VRC software requirements

Note
To simulate a VRC, you must run Process Simulate in Line Simulation mode.

Kuka VRC software requirements

The following is a list of the software requirements for using Tecnomatix Virtual Robot Controller (VRC)
Server for Kuka robots:

• Siemens
◦ Process Simulate (version 16.0.1 or higher)
◦ Kuka-KRC OLP controller (latest)
◦ Tecnomatix VRC Server Kuka Real Time (latest)
• Kuka
◦ KR C, V8.5.OL_build08 virtual machine with VRC interface and Y200 interface installed
◦ VMware Player or VMware Workstation

Note
• The Kuka-KRC OLP Controller and VRC Server versions must match or the application will fail. For
more version compatibility information, refer to the VRC Server log in the Siemens Support Center
download section.
• The Tecnomatix VRC Server Kuka Real Time software must be installed on the KRC, V8.5.OL_Build08
virtual machine and not on the host computer.

Kuka VRC silent installation

Tecnomatix Virtual Robot Controller (VRC) Server for Kuka robots provides an option for silent installation
using Inno Setup silent installation procedures and parameters. The server can be installed via the
command line, while specifying the following flags:

• /SILENT, /VERYSILENT
Instructs Setup to be silent or very silent. When Setup is silent the wizard and the background window
are not displayed but the installation progress window is. When a setup is very silent this installation
progress window is not displayed.
• /SUPPRESSMSGBOXES
Default responses are provided to any setup questions.
• /DIR

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Setting up the VRC Kuka environment

Overrides the default directory name displayed on the Select Destination Location wizard page. A fully
qualified path name must be specified. May include an expand: prefix which instructs Setup to expand
any constants in the name. For example: /DIR=expand:{autopf}\My Program.

Setting up the VRC Kuka environment

Set up Process Simulate

Ensure that the types of the robots running in Process Simulate match those of the robots in the Virtual
Robot Controller (VRC) running in Kuka.OfficeLite.

Set the robots to VRC mode, as follows:

Set single robot to VRC Mode

Procedure

1. Right-click a robot instance and select Robot Properties.

2. Click the Controller tab.

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 Set multiple robots to VRC mode

3. Set Controller to Kuka-Krc.

4. Change Motion Planner to VRC.

Note
The other parameters in the Robot Properties (or Controller Settings) do not affect VRC simulation.

5. Click Close.

Set multiple robots to VRC mode

Procedure

1. Access Controller Settings.

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For each robot, set the VRC connection parameters

2. For every robot instance to be connected to a VRC instance, set the Controller to Kuka-Krc and
Motion Planner to VRC.

Note
You can right-click the column header and select Set all to VRC to change the Motion Planner
setting for all the robots in the table with a single action.

For each robot, set the VRC connection parameters

Procedure

1. For each robot set to VRC mode, open Robot Setup and click VRC Settings.
2. From Tecnomatix VRC Server Kuka Real Time, copy the Port number and IP Address into VRC
Connection.

3. To test the connection for a robot instance, click Test Connection in the VRC Connection dialog box.
If the test succeeds, the following message is displayed:

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 If the test fails, an error message is displayed with instructions for resolving the problem.

Note
Process Simulate communicates with external devices using the bit order (numbering scheme) of the
external device. If you have created a conversion matrix to convert the bit order manually, this is
likely to cause a mismatch when communicating via Process Simulate. Therefore, it is recommended to
remove the conversion matrix at the source. Alternatively, you can create a reverse conversion in Process
Simulate so that the communication flows correctly between the two external devices.

Set up Kuka.OfficeLite

Procedure

1. Launch Kuka.OfficeLite using VMware Player or VMware Workstation.

2. Start the Y200 interface.
3. Start the KRC.
4. Set the robot to the desired run state.

Note
Launch a separate Kuka.OfficeLite VC instance for each robot in the Process Simulate study.

Set up VRC Server Kuka Real Time

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 The Tecnomatix Virtual Robot Controller (VRC) Server Kuka Real Time handles communication between
Process Simulate and the KRC. The server allows executing robot programs using the KRC included in
Kuka.OfficeLite while connecting to Process Simulate for simulation of entire stations or lines.

Procedure

1. Double-click TecnomatixVrcServerKukaRealTime.exe to launch the server.

Tecnomatix VRC Server Kuka Real Time starts:

2. Click Start or Stop to start or stop the server.

• Start the server before playing the simulation in Process Simulate. Process Simulate connects to the
Kuka VRC Tecnomatix Server when simulation starts.
• Stop the server after stopping the simulation in Process Simulate (after Pause, or Pause and
Reset). Do not stop the Kuka VRC Tecnomatix Server while the simulation is running in Process
Simulate, as in this case Process Simulate continues searching for the server in a non-ending loop.
3. The main area of the server window displays a log of server activity, such as the connection to
any VRC instance, including robot initialization positions. Errors encountered during initialization are
also displayed and highlighted in red.During simulation, the log display lists call exchanges between
Process Simulate and the VRC such as GetNextStep calls and IO (signal) exchange.
4. You can click Clear to clear the main display or Export to save the log to a text file.

5. You can click Settings to adjust the following server functions.

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 Run simulation in Process Simulate

• Show Blinker—When set, the symbol is displayed. It blinks when the server receives robot
position requests.

• Debug mode—Creates a low level debug file with details about server activity, such as the
connection to any VRC instance including the robot’s initialization to its initial position.
• Convert external rotational joints from Rad to Deg—Activated by default. Corrects a Y2000
interface bug, and correctly provides values in degrees (and not radians) for external rotational
joints.

Run simulation in Process Simulate

Procedure

1. In the Kuka.OfficeLite virtual machines, verify all the robot controllers are up and running. Refer to
Kuka.OfficeLite Setup.
2. Start all the Virtual Robot Controller (VRC) Servers.
3. Load a study in Process Simulate in Line Simulation mode. If necessary, right-click the LineOperation
in the Object Viewer and select Set as current operation. The LineOperation is added to the
Sequence Editor.
4. Play the simulation in the Sequence Editor.You can use the following simulation controls: Start,
Pause, Resume, and Rewind.

When you play the simulation, Process Simulate performs the following:

• Connects to the Tecnomatix VRC Server Kuka Real Time.

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 • At the end of every time interval, Process Simulate:
◦ Reads the robot's new joint positions from OfficeLite.
◦ Updates the KRC with changes in robot input signals.
• At the end of every time interval, KRC updates Process Simulate with changes in robot output signals.
Only signals that have changed during the last step are updated.

Note
• The Process Simulate operation content is ignored; only the KRC operation is used for the simulation.
• For optimal performance, block all robotic operations of robots using the VRC connection.

Tecnomatix VRC Server Kuka known limitations

• Because the robot program is running entirely in the Virtual Robot Controller (VRC), you cannot use
hash-tag OLP commands such as #Blank or #Attach during simulation. In order to trigger actions such
as gripping or displaying parts, use Logic Blocks or SCL Blocks and connect them to the relevant robot
signals.
• When running version 16.0.1, Process Simulate on Teamcenter users must create an operation, assign it
to the robot, and place it first in the Object Viewer in order to start the virtual robot.
• External axes are currently not supported.

Tecnomatix VRC Server Universal Robots Real Time

Universal virtual robot controller

When performing virtual commissioning with Universal robots, you can establish and use a connection
between Process Simulate and the URSim application to simulate a complete Virtual Robot Controller
(VRC).

Process Simulate reads and writes information to and from URSim, including joint values, signal values,
and more, to enable the simulation to visualize and interact with the VRC.

Note
To simulate the Universal Robots VRC, you must run Process Simulate in Line Simulation mode.

Universal VRC software requirements

The following is a list of the software requirements for using Tecnomatix Virtual Robot Controller (VRC)
Server for Universal robots:

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 Set up Universal Robots in Process Simulate

• Siemens
◦ Process Simulate (version 16.0.1 or higher)
◦ Universal-URScript OLP controller (latest)
◦ Tecnomatix VRC Server Universal Real Time (latest)
◊ Tecnomatix VRC Server Universal Real Time comes as a Debian package with Mono embedded.
• Universal
◦ Linux-based virtual machine with the following items installed:
◊ URSim 5.9.4 or higher for E-series
◊ URSim 3.15.3 or higher for CB-series
◊ Any PDF reader to view this user manual on the virtual machine
• Other
◦ VMware Player or VMware Workstation

Note
• The Universal-URScript OLP Controller and VRC Server versions must match, or the application will fail.
For more version compatibility information, refer to the VRC Server log in the Siemens Support Center
download section.
• The Tecnomatix VRC Server Universal Real Time software must be installed on the URSim virtual
machine and not on the host computer.

Set up Universal Robots in Process Simulate

Ensure that the types of the robots running in Process Simulate match those of the robots running in
URSim.

Set the robots to Virtual Robot Controller (VRC) mode.

Set single robot to VRC Mode

Procedure

1. Right-click a robot instance and select Robot Properties.

2. Click the Controller tab.

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Set multiple robots to VRC mode

3. Set Controller to Universal-URScript.

4. Set Motion Planner to VRC.

Note
The other parameters in the Robot Properties (or Controller Settings) do not affect VRC
simulation.

5. Click Close.

Set multiple robots to VRC mode

Procedure

1. Access Controller Settings.

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 For each robot, set the VRC parameters

2. For every robot instance to be connected to a VRC instance, set the Controller to Universal-URScript
and Motion Planner to VRC.

Note
You can right-click the column header and select Set all to VRC to change the Motion Planner
setting for all the robots in the table with a single action.

For each robot, set the VRC parameters

Procedure

1. For each robot set to VRC mode, open Robot Setup and click VRC Settings.

2. Select Stop VRC when simulation is paused to stop the Universal robot when simulation is paused
in Process Simulate.

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Set up URSim

Note
The Universal robot stops by decelerating to speed 0.

3. From Tecnomatix VRC Server Universal Real Time, copy the Port number and IP Address and paste
in the VRC Settings dialog box.
4. To test the connection for a robot instance, click Test Connection.
If the test succeeds, the following message appears:

If the test fails, an error message is displayed with instructions for resolving the problem.

Set up URSim

Procedure

1. To enable exchange of data between the URSim virtual machine and the host computer, do the
following:
a. Add a shared folder in Player → Manage → Virtual Machine Settings → Options → Shared
Folders. The shared folder is mapped to /mnt/hgfs/<Shared Folder> and can be used for data
exchange.
b. Update VMware tools, as follows:
i. Access Player → Manage → Reinstall VMware tools. A File Manager window opens.
ii. Copy VMwareTools<version>.tar.gz to the home directory and extract it (tar –xvzf
VMwareTools<version>.tar.gz).
iii. From the extracted directory run ./vmware-install.pl.

Note
This is a one-time setup procedure.

2. Launch URSim using VMware Player or VMware Workstation. This launches Polyscope (the
Universal Robots Graphical Programming Environment).
3. From Polyscope, power up the robot and begin operation.

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 Note
The robot should be in Normal mode and ready for normal operation indicated by the green
Initialize icon on the bottom left of the screen.
Simulation mode should not be selected.

4. Load the desired program.

Note
• Launch a separate URSim simulator for each robot in the Process Simulate study.
• As it is not possible to run more than one simulator on one machine, each URSim simulator instance
should run on a separate virtual machine.
• Make sure that you start the correct simulator for each robot model in Process Simulate.

Set up VRC Server Universal Real Time Server

The Tecnomatix Virtual Robot Controller (VRC) Server Universal Real Time handles communication
between Process Simulate and the URSim. The server allows you to execute robot programs using the
various client interfaces and servers that URSim offers when you connect to Process Simulate for the
simulation of entire stations or lines.

Install the VRC and run it on the URSim virtual machine.

Install VRC Tecnomatix Universal VRC Server

Procedure

1. Run the following command on the terminal:

sudo dpkg -i TecnomatixVrcServerUniversalRealTime.v<release version

number>.<date>.deb

The Tecnomatix Universal VRC Server icon appears on the desktop, indicating the VRC server is
successfully installed.
2. To uninstall the Tecnomatix Universal VRC Server, run the following command:

sudo apt-get remove TecnomatixVrcServerUniversalRealTime

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Run VRC Server Universal Real Time

Run VRC Server Universal Real Time

Procedure

1. Double-click the Tecnomatix Universal VRC Server icon on the desktop.

The Tecnomatix Universal VRC Server starts.

2. Click Start or Stop to start or stop the server.

• Start the server before playing the simulation in Process Simulate. Process Simulate connects to the
Tecnomatix Universal VRC Server when simulation starts.
• Stop the server after stopping the simulation in Process Simulate (after Pause, or Pause and
Reset). Do not stop the Tecnomatix Universal VRC Server while the simulation is running in Process
Simulate, as this will cause Process Simulate to continue searching for the server in a non-ending
loop.
3. The main area of the server window displays a log of server activity, such as the connection to URSim,
including robot initialization positions, initialization of messages, and setup of required input and
output channels.
4. During simulation, the log display lists call exchanges between Process Simulate and the VRC, such as
GetNextStep calls and IO (signal) exchange.
5. (optional) Click Clear to clear the main display.
6. (Optional) Select the Debug option for low level debug information with details about server activity,
including the robot’s initialization to its initial position, details about connectivity to the different
URSim interfaces, and so on.

Run simulation in Process Simulate

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 Procedure

1. On the URSim virtual machines, verify all the robot controllers are up and running, as described in
Setup URSim.
2. Start all the Virtual Robot Controller (VRC) Servers.
3. Load a study in Process Simulate in Line Simulation mode. If necessary, right-click the LineOperation
in the Object Viewer and select Set as current operation. The LineOperation is added to the
Sequence Editor.
4. Play the simulation in the Sequence Editor.
• You can use the following simulation controls: Start, Pause, Resume, and Rewind.

When you play the simulation:

• Process Simulate connects to the Tecnomatix VRC Server Universal Real Time.
• Process Simulate sends the initial position of the robot to the connected URSim robot.
• At the end of every time interval, Process Simulate:
◦ Reads the robot's new joint positions from URSim.
◦ Updates the URSim with changes in robot input signals.
• At the end of every time interval, the VRC server updates Process Simulate with:
◦ Changes in robot output signals. Only signals that have changed during the last step are updated.
◦ Errors, warnings and information messages that occurred in the last step. They are logged in the
Process Simulate Simulation Monitor. The Process Simulate operation content is ignored; only the
program loaded in URSim is used for the simulation.

Tecnomatix VRC Server Universal Robots known limitations

• Because the robot program is running entirely in the Virtual Robot Controller (VRC), you cannot use
hash-tag OLP commands such as #Blank or #Attach during simulation. In order to trigger actions such
as gripping or displaying parts, use Logic Blocks or SCL Blocks and connect them to the relevant robot
signals.
• When running version 16.0.1, Process Simulate on Teamcenter users must create an operation, assign it
to the robot, and place it first in the Object Viewer in order to start the virtual robot.
• External axes are not supported.
• Running VRC simulation while Simulation mode is selected in Polyscope is not supported.
• Analog Input signals [0..3] are not supported because URSim lacks an interface for setting analog input
signals.

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Update Robot Joint Limits from Machine Data

• Analog Output signals cannot be simulated with URSim 5.9.4, due to a known bug in this release of
URSim.

Update Robot Joint Limits from Machine Data

The Update Robot Joint Limits from Machine Data command automatically updates robot joint limits
from machine data files or directly from an RCS module.

• Select a robot and choose Update Robot Joint Limits from Machine Data. The command runs and
updates the joint limits of the selected robot.
• When processing is finished, the Robot joint limits updated successfully message is displayed in the
status bar. If any joint limit cannot be updated, a relevant error message is displayed.

The Update Robot Joint Limits from Machine Data command updates robot joint limits according to the
robot controller. The following controllers are currently supported:

• ABB
1. The limits are retrieved from the RCS.
2. ABB RCS syntax:
◦ GetJointLimMin <joint_number>
◦ GetJointLimMax <joint_number>
• FANUC
1. If connected to RCS, the limits are retrieved from the virtual robot:
Fanuc RCS syntax:
◊ $MRR_GRP[<group_number>].$LOWERLIMS[<group_id>]
◊ $MRR_GRP[<group_number>].$UPPERLIMS[<group_id>]
2. If not connected, the limits are retrieved from the loaded machine data:
The tool automatically searches through all the machine data files for robot joint limit definitions.
The first file which contains joint limit definitions is used.
The robot joint definition syntax in the machine file is as follows:
a. $MRR_GRP[1].$LOWERLIMS[1]
b. …

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 c. $MRR_GRP[1].$LOWERLIMS[6]
d. $MRR_GRP[2].$LOWERLIMS[1]
e. ...
f. $MRR_GRP[1].$UPPERLIMS[1]
g. …
• KUKA
1. The limits are retrieved from machine data file.
2. The robot joint definition syntax in the machine file is as follows:
a. $SOFTN_END[1]=-181.0
b. ...
c. $SOFTN_END[12]=0.0
d. REAL $SOFTP_END[12] ;SOFTWARE-ENDSCHALTER POSITIV ACHSE[I] (I=1:A1,I=7:E1)
[MM,GRAD]
e. $SOFTP_END[1]=181.1
f. ...
g. $SOFTP_END[12]=10.0
• YASKAWA
1. The pulse limits are retrieved from the .prm machine data file from ///S1C<i>G sections.
//S1C1G
1562,1000,78,156,312,625,1250,2500,5000,10000
.........
0,0,0,0,0,0,0,0,0,0
212483,262656,400794,345234,109087,193359,0,0,-212483,-175104
-149811,-345234,-109087,-193359,0,0,0,0,0,0
...........
2. The tool calculates the joint limits from these values using the factors and offsets defined on the
robot.
• NACHI
1. The limits are retrieved from RCS.
2. GetRobotJointLimitsFromMachineData
MEC{Mechanism number}_RANGE_{L or H}_J{Axis number}

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Zone interference for locations

Zone interference for locations

Zone Preview

The Zone Preview option enables you to display spherical zones around locations of a robotic or seam
operation. You set the radius of the spheres in millimeters by entering values (prefaced by z) in the Zone
Data column of the Path Editor. No spheres are displayed for process (fine) locations that have no Zone
Data. These are represented by grayed-out cells.

Note
Currently, this feature is only supported for ABB robot controllers.

Generate and display location spheres

Procedure

1. Choose Zone Preview .

2. Select any operation with an assigned robot and containing locations with defined zone motion
parameters in the Object Viewer.
The preview is displayed.

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 The system checks whether a location sphere interferes with spheres on neighboring locations (according
to their order in the Object Viewer). Spheres that do interfere are displayed in red. Interfering, non-
neighboring spheres are not reported. In the following example, the spheres on consecutive locations
(locations 1 and 2) are in collision. They are highlighted in red.

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 In the following example, the colliding spheres are on non-consecutive locations (1 and 3) - location 2 has
no motion parameters and therefore has no sphere. The system does not check for collision of spheres on
non-consecutive locations.

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 If interference occurs, you can use the Placement Manipulator to adjust the position of one or both
locations. In addition, or alternatively, you can modify the radius of the spheres.

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15. Using Process Simulate VC Lite
The Process Simulate VC Lite application is a digital manufacturing solution for simulation, validation
and virtual commissioning of manufacturing processes and production environments in a virtual 3D
environment. It enables manufacturers to leverage digital twin capabilities in order to improve process
quality, efficiency and standardization during the stages of product development and throughout their
lifecycle.

You can purchase additional products to supplement the Process Simulate VC Lite license if you require
additional features for your activities.

The Process Simulate VC Lite ribbon displays all the Process Simulate commands that you might need
while performing virtual commissioning. The following figure shows the Process Simulate VC Lite after it
opens.

Process Simulate VC Lite can load data from both eMServer and Teamcenter standalone applications
(*.psz and *.psz-tc files) and includes all the functionality available in Process Simulate, required for Virtual
Commissioning such as:

• Data Layout
◦ Viewing and manipulating data in the 3D Graphic Viewer.

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 ◦ Making measurements between objects.
◦ Performing collision analysis to verify that the process runs smoothly.
◦ Setting work floor settings.
• Modeling
• Define Kinematics
◦ Create kinematics for various objects.
◦ Kinematic interaction using Joint Jog, Robot Jog, and Pose Editor.
• Shop floor activity
◦ Paint during simulation.
◦ Spot weld commands, including all the following: Automatic Approach Angle, Automatic Part
Assignment, Weld Distribution Center, Weld Quality Report, Export Weld Quality Report to
Excel, Create Weld Point by Coordinates, Create Weld Points by Pick, Create Weld Point
on Robot TCPF, New Weld Operation, Update Weld Locations Projection, Pie Chart, Project
Weld Points, Multi Sections, Geometric Gun Search, Duplicate Weld Operation, Obtain Weld
Point Orientation, Convert to Via Location, Convert to Weld Location, and Adjust Location
Orientations to Full Reach
• Simulation Review
◦ Running simulations in Standard Simulation and Line Simulation modes.
◦ Performing Virtual commissioning (PLC simulation).
◦ Providing full access to all OLP Controllers and custom XML.
• Analysis tools
◦ Verifying robots' reachability.
◦ Analyzing dynamic robot motion.
◦ Debugging robot programs.
◦ Debugging simulation logic.
• Importing DXF files
◦ You can purchase and install the complete CAD Translators to enable importing .dxf files.

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 Note
• Import of SolidWorks 2020 models is supported.
• STEP XML is supported for Tecnomatix Basic Translators.

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16. Teamcenter Share
Teamcenter Share is packaged with all Process Simulate desktop products and Process Simulate VC-Lite. It
enables secure sharing of studies with colleagues outside the company’s network, and provides role-based
access control.

Teamcenter Share provides cloud file storage and file loading for Process Simulate data (Standalone/
Disconnected studies (.psz), Studies and Components (.pszx), Teamcenter-based Process Simulate studies
(.psz-tc), and Library compressed file (.zip).

Note
As you save these files on the cloud, you can also save them on your computer

The Teamcenter Share online connection status is displayed.

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