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1.
In this assignment youll create a simulation of robot movements to get the part from lathe to table. You can
. You can
use any robot you like (for example Staubli RX170B). Youll find robots from robotlibrary
watch the assignment4 video in the moodle, to see how your simulation should look like. All the required
files can be found in the assignment material folder in Moodle.
1.1.
You can find the startpoint of your robotcell from material folder (startpoint.CatProcess). Open the file and
go to the Device Task Definition workbench, if youre not already there. Insert the Robot you want and the
worktool(worktool.CatProduct) as resources. [From the menu, select Insert
Insert Resource or click
Insert Resource
from the Activity Management toolbar]. After you have loaded resources add also
product(workproduct.CatProduct). [From the menu, select Insert
Insert Product or click Insert Product
from the Activity Management toolbar].
TTE-58006
Assignment 4
02/09/13
1.2.
toolbar.
You can also use snap resource tool, to give the correct positions.
1.3.
1.4.
When all objects are in the correct positions remember to save the initial state
what is the startpoint of simulation.
1.5.
First create New Tag Group. Click New Tag Group . The Tag
Group dialog box appears. Enter the name of the tag group or accept the
default name.
Then create tagpoints on different locations. Click Create Tag on TCP . Select a robot on either
the PPR tree or the geometry. From the list under the Applicative Frame, select a tag group. Jog the robot
using the Jog dialog. Create a tag by selecting the Create Tag button.
Create tagpoints around the robot working area, so that robot first goes near the
workproduct.catproduct. After that create tagpoints so that robot doesnt hit lathe. One point should be near
the table that part can be dropped there. Tag places dont need to be exactly correct at the first time. You can
modify the places of the tags later with teachtool
TTE-58006
Assignment 4
02/09/13
1.6.
For moving along the tagpoints you just created you need to create a new task for the robot and then add
tags to the task.
Tools to do this can be found in the Sequence toolbar
illustrated on the right.
1.7.
Create pick and drop operations to grab the part from lathe spindle
and release it when its near table. To do this, you can use action library
toolbar illustrated on the right.
TTE-58006
Assignment 4
02/09/13
1.8.
Make sure you have named the process something else than Process1! Save and submit just like you
did with Assignment 3. An accepted assignment submission has to include the following things:
Final process named Assignment4_NAME_SURNAME.CATProcess
Process with Robot, Robot tool and Workproduct
Robot task which moves workproduct from lathe to table
Picking and dropping operations
Submission
in
ZIP
file
named
Assignment4_NAME_SURNAME.zip.
When youre ready with your work save the model like you
would normally do (Save Management!). Then File
Send to
Directory
Click the arrow Copy all files (see picture below)
Copy to C:\temp\ or such folder.
After you are finished, zip all the files you used in this
homework (you can zip the
whole folder, if there is only your parts) and send it
through moodle.
TTE-58006
Assignment 4
02/09/13