Robcad_教程
【ROBCAD学习】robcad_最基本的操作过程
最基本的操作过程Robcad通常要创建两个文件夹，一个为Library;一个为Project。
Library一般存放固定的、不可更改的文件，比如：机器人，车型，测点，围栏，工装，水泥台等等。
Project一般存放的都是Library里的，在Robcad里可以被更改的文件。
Project里的文件可以更改过后，再放回Library文件里当库文件。
注：两个文件夹（包括两个文件夹）下的所有文件名必须是英文，中文不识别。
还有就是创建一个项目的时候最好是在Simulation文件夹下如：Simulation\jin\project或Simulation\jin\library。
以下是本行业使用Robcad的过程:1：打开软件在Robcad界面下，点击Setup，弹出Setup窗口→点击Project→Define→在Project name:填写项目名称→在Path：项目所在的Project的路径→点击Accept确认。
（这一步叫做“定义路径”）→点击Set library root（创建库的根目录）→删掉Filter,selection两栏中的内容，在Directories栏中找到项目的1Library路径，点击Filter键并确认。
创建好之后，点击Configuration→Store→User Project (保存)。
2：在Robcad界面下，点击Project→找到项目名称并点击进入。
弹出Layout窗口，点击Store as(另存) →在弹出窗口里填写另存名（这个时候Project文件下会出现-另存名的文件夹）。
在Layout窗口下点击Get component(获得组件)，然后在Get component找出需要使用的诸如车型，机器人等等的组件。
将不需要的项目去掉，在Robcad界面下点击Setup→弹出Setup窗口→点击Projects→再点击Cancel选择要去掉的项目。
Sensor的安装方法（机器人关联Sensor）1.将传感器安装到机器人上在robcad界面下，点击上方工具栏中按钮Robcad，出现下拉菜单选择Workcell，在右下方出现工具框，选择Motion按钮，出2现Motion对话框，选择setting。
ROBCAD_初级培训
软件状态拦
Robcad training course Create by Si Mao
键盘功能键命令介绍
软件工作状态，
F1键,为软件帮助快捷键 F2键,无命令; F3键,视图窗口居中显示
在3D视图窗口中,按F4键,弹出如下 窗口,可输出不同形式的可视化文件:
在3D视图窗口中,按F5键,弹出如下 窗口,各命令会以不同形式,显示视 图零件;和更改不同视图窗口:
Robcad能够在由产品和多类制造资源所构成的环境中，进行机器人工作单元验证和自动化制造过程的 设计、仿真、优化、分析和离线编程。它提供的并行的工程平台，能用于优化焊接工艺过程并计算焊 装节拍时间。利用Robcad，你能够在三维图形计算机工作站上设计和模拟完整的焊装单元和系统。通 过允许制造工程师在前期虚拟地验证自动化制造方法和手段，Robcad使制造商能够无瑕疵地引进自动 化过程。作为一个标准的大规模的解决软件，ROBCAD能够充分集成主要的工艺，通过一套强大的过 程特定应用，覆盖范围广，包括点焊、弧焊、激光焊和冲铆等。 ROBCAD软件的开发有着突出的优点：提高加工质量、精确度和效益；减少劳动力时间和过程工程主 导时间；极大提高程序的准确度和过程质量；优化开发和主要的投资；减少成本；加速了投入市场的 时间。
Robcad training course Create by Si Mao
ROBCAD软件介绍
工作单元布局设计和建模 除带有最全面的机器人库之外，Robcad 还能非常方便地对额外的机器人和设备进行建模。 利用Robcad 布局设计功能，能够构建三维的制造环境。一旦用Robcad 完成制造流程的 设计，就可以通过Robcad 的机器人功能，能够对机器手的运动范围和限制条件进行检查。 机器人仿真 Robcad 能基于控制器特征生成可配置机器人运动路径规划，并以此为基础，能够计算生 产节拍，分析实时性能并缩短调试周期。 真实机器人仿真（RRS） － 基于实际控制器特征的机器人运动路径规划软件提供了对 节拍时间非常精确的计算。 冲突检测 在机器人仿真和运动过程之中，Robcad 能够动态地检测冲突，以防止对设备产生高成本 的损害。 操作顺序（SOP） 利用 Robcad，能够对所有的操作和生产环节及其利用的资源（比如，机器人、机械、人 力）进行详细的描述、排序。通过该功能，能够对整个工作单元的制造过程在可视化的 环境下进行优化。 离线编程（OLP） 利用 Robcad OLP，能够准确地模拟机器人运动径和次序，并直接为车间提供机器人操作程序。Robcad 适用于大 部分机器人型号（50多个接口，超过200 多个控制器配置），它能把控制器信息－包括运动和过程属性－添加到生 成的机器人路径之中。然后，Robcad OLP生成控制器程序，随后该把程序下载到实际控制设备加以应用。 Robcad 还可以从实际设备上传程序，以供重用和进一步优化。
robcad学习手册、资料、讲解
1.加载库在robcad界面下，点击上方工具栏按钮Setup（如图1.1），在右方出现Setup状态栏，点击Projects，再点击Set library root（如图1.2），出现Library Root Bowser 对话框，按Filter按钮进行过滤（如图1.3），出现文件选项，选择用户所需要的库（如图1.4）。
图1.1图1.2图1.3图1.42.加载车模在robcad界面下，点击上方工具栏按钮eMpower，出现下拉菜单选择Workcell （如图2.1）或者点击工具栏中按钮Layout（如图2.2），在右方出现Layout状态栏，点击Load cell（如图2.3），出现Load Cell对话框，选择用户所需要的车模（如图2.4）。
注：有时Cells框中无选项出现，按Thumbnails。
，出现选择对话框，选择用户所需要的车模（如图2.5）。
图2.1图2.2图2.3.图2.4图2.53.在画面中加入机器人在robcad界面下，点击上方工具栏按钮Layout（如图3.1），在右方出现Layou 状态栏，点击Get component（如图3.2），出现Get Component对话框，选择Libraries，选择用户所需要的机器人，Locate At：选择机器人位置，Instance Name：输入机器人名字（如图3.3）。
点击Locate At后的Position，出现Position对话框，点击Values，输入机器人所在位置的数据（如图3.4）。
图3.1图3.2图3.3图3.44.画面操作在robcad界面下，滚动鼠标中键滚轴拉远近视距，按住鼠标右键拖动进行画面的平移，同时按住鼠标中键＋右键拖动进行画面的翻转。
5.控制机器人的运动在robcad界面下，点击上方工具栏中按钮eMpower，出现下拉菜单选择Workcell （如图5.1），在右下方出现工具框，选择Motion按钮（如图5.2），出现Motion 对话框（如图5.3），可按不同的坐标对机器人进行运动控制，点击Active mech，出现Mechanisms对话框（如图5.4），可选择机器人，点击编号或直接从界面中选择机器人。
ROBCAD教程第六章-其它主题
第六章：其他选择主题描述eM-Workplace中的其他重要主题（如CAD集成）将在本章中进行介绍。
本章涵盖的主题。
使用eM-Workplace进行CAD集成简介。
I-DEAS与eM-Workplace集成。
用于CAD界面的独立GUI（翻译）。
数据菜单CAD翻译。
纹理映射。
更多数据命令Windows第1课：CAD集成（CI）能够链接到CADDS5，UG，Pro-E，I-DEAS和CATIA零件CAD集成（CI）是将其他CAD系统的数据导入eM-Workplace的更简洁的方式。
这是因为原来的CAD模型从来没有被翻译成eM-Workplace。
使用CI，将原始CAD模型作为组件读取并显示在eM-Workplace中。
与转换的组件不同，集成组件只是原始CAD数据的阴影。
因此，这个组件的“几何形状”是不能改变的，但是可以添加运动学。
什么是CAD集成答案？- 继续与产品数据相关联- CAD独立的电子制造环境- 访问产品组装树- 多个CAD系统环境- 沟通过程信息反馈- 通知设计问题- 初步设计链接- 快速准确地访问产品数据CAD集成优势- 使用“一流的”CAD和电子制造解决方案- 启用并行工程- 如按需设计审查- 尽早开始流程研究- 没有数据翻译或重复- 降低数据管理成本- 没有精确的损失- 属性，几何和装配链接CAD集成优势摘要- 提供快速和准确的程序- 允许并行工程- 降低数据管理成本EDS UG CI状态平台： HP / SGI / SUN应用：SPOT，DYNAMO，MAN，DRILL，CMM，FIXTURES，LINEUG版本：11，13， 15Dasault CATIA CI状态平台：IBM / HP / SUN / SGI应用：SPOT，DYNAMO，MAN，DRILL，CMM，FIXTURES，LINECATIA版本：4.1.6 - 4.2.0（PTC）CV CADDS CI状态平台：HP / SGI / SUN应用：SPOT，DYNAMO，MAN，DRILL，CMM，FIXTURES，LINE CADDS版本：6，7，8，9SDRC I-DEAS CI状态平台：HP / SGI / SUN / IBM应用：SPOT，DYNAMO，MAN，DRILL，FIXTURES，LINEI-DEAS版本：MS6，MS6a，MS7参数技术PRO-E CI状态平台：HP / SGI / SUN应用：SPOT ，DYNAMO ，MAN ，DRILL ，CMM ，FIXTURES ，LINEPRO-E 版本：18，19，20，2000i工业过程 CAD 集成的概念1基于同步数学的制造业 Level of Computeriz ation, CAEFactory eManufacturing Tools AutomationProduc tion Production Production Desi gn Engineerin gCAD 集成的概念2 CAD SystemEnviron ment Math Data and AtributesRO BCAD Envi ronmentConcurrent Access基于同步数学的制造业CAD 集成与 CAD 翻译的区别CAD 翻译（CAD 界面） +/-可以修改翻译的部分 + 需要较少的CAD 许可证 for Several CAD Sys tems in One CellEDS UG Dasault CATIAROBCAD Environm entCV CADDS5 SDRC I−DEAS- 打破了CAD模型和eM-Workplace模型之间的联系- 可能无法获得CAD模型的100％- 占用比CAD集成更多的磁盘空间CAD集成（CAD链接）+ / - 只读部分- 需要更多的CAD许可证+ 维护CAD模型和eM-Workplace +之间的“实时”链接查看在CAD 系统中查看CAD模型的100％+使用大约60％的磁盘空间（不重复数据）同一单元中的多个CAD集成部件用户现在可以将CADDS5，UG和CATIA，I-DEAS和Pro-E的CAD集成零件放在同一个单元中。
ROBCAD教程第四章-处理
第4章：处理描述现在，我们将利用前三章所获得的知识来设置自己的路径，并使用eM-Workplace 库结构。
本章涵盖的主题· 逆向运动学：eM-Workplace的核心技术。
使用路径。
填充库。
从最少约束到最多约束第1课：逆运动学：e M-Workplace的核心技术原则定义机构/设备具有运动学的组件eM-Workplace Robot 在 运动链的末端创建一个TOOLFRAME 并编译（定义）该机制将使一个简单的运动学设备安装到eM-Workplace 机器人（或CMM ）中。
放置编辑器“放”命令放在“源”的方向：将一个对象从源帧放到目标帧。
- >将对象从源框架移动到目标框架 - >对象的方向不受影响（保持源框架的方向） 以“目标”为导向：将一个对象从源框架到目标框架。
- >将对象从源框架移动到目标框架。
- >对象的方向改变为目标框架 Joint Angles Direct Kinematics Position and orientation of theend−effectorInverse KinematicsLink ParamtersLink ParamtersJoint Angles INPUTINPUTOUTPUT直接运动学直接运动学如何工作：1. 给eM-Workplace 一个状态/姿势。
状态/姿态包含机构的每个关节的确切值。
当前位置的 目标姿势J1 = 0 J1 = 10J2 = 10 移动到姿势J2 = 120J3 = 0 J 3 = 100J4 = 15 J4 = 45J5 = 40 J5 = 32J6 = 20 J6 = 462. eM-Workplace 将机制从当前位置移动到目标位置- 易于使用eM-Workplace ，因为eM-Workplace 已经知道联合价值- 直接运动学可用于任何运动装置，如枪支，夹具，机器人等。
逆运动学逆向运动学如何工作：1. 给eM-Workplace 一个位置。
Robcad_教程
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
24
目录
通用功能模块
1. Display模块： Viewing： ① View direction：以某实体为中心视角； ② View Points：创建某一视角； ③ Viewing panel：调整3D窗口亮度、地板大小和地板高度等； ④ Open graphics windows：同时打开多个3D窗口； ⑤ Cell view：保存窗口设置
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
15
目录
基本操作 2. 鼠标操作： 左键：选择功能； 中键:放大和缩小视角功能； 右键：现实对象的平移； 中键+右键：0~180度旋转； 3. 其他快捷键：见右图所示，在Setup 模块下的Hot key viewer中可以查看 其他快捷键的命令
F5：窗口设置
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
13
目录
基本操作 1. 键盘快捷键操作： F10：切换显示模式，按F10键，3D窗口中的资源会在“shaded”和“wireframe” 之间 切换； F11:选取模式切换，按F11键，选取模式会在“Snap”和“Where picked”之间切换；
选取对象
功能菜单
Transfer Panel
步进行程 绝对位置
相对移动
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
18
目录
资源布局
1. Placement Editor命令： Xyz Shift：
在相应的方向输入距离即可完成移动。
ROBCAD
3打开创建动作的单元
4进入创建动作模块
Hale Waihona Puke 4创建link1点击
3点击创建不动的实体完 成,然后在用同样方法创 建动的实体
2选中一个不动的实体
5旋转轴
1点击创建旋转轴
3点击创建旋转轴完成
2点击创建旋转轴心点, 另外一侧也要创建
6创建关节
1点击此创建动作关节
2依次对应创建不动的实 体,动的实体,与旋转轴,然 后点完成
3点此定义好创建的关节
7创建动作
8创建动作
1点击此打开创建动作菜 单
3输入要此创建动作的名 字,然后确定
2点击此创建动作
2在此可查看创建的动作
1在此输入打开角度然后 在点确定既完成一个打开 动作
ROBCAD_44-56
检测干涉的过程例子对于每一个机器人都要做干涉检查，并设置每一个过程的干涉碰撞对。
过程：第一步：:1.加载产品2. R1和R2的机器人进行焊接3.机器人R3搬运产品和清理夹具第二步:1.机器人R3装载ASM2. R4和R5的机器人进行焊接3.机器人R6 卸载Asm ，并清理夹具对R3进行干扰检查:1机器人.R3 在第一步与R1T R2进行配合，在第二步与R4、R5、R6进行配合。
2设置R3碰撞队列，创建一个新的碰撞对，将它命名为“r3_rbtint”（1）在“第一个列表”，添加机器人R3的EOAT、产品、资料等（和机器人关联的东西，并可能与机器人一起移动的）（2）在“第二个列表”，添加所有的机器人，比如R1，R2，R3，R4，R5，R6等，以及他们的EOAT，产品和关联产品等（和机器人相关联的，并可能与机器人一起移动的）（3）设置最小距离为150mm时，停止。
（4）激活碰撞对碰撞标签，并把开关从OFF转到L Near。
(5) 切换“EM_SPOT”到“Spot_Simulation”，选择“机器人和路径”，选择R1，R2，R4，R5，R6和各自的路径。
（6）转到“位置”选项卡，使机器人R3作用机制，并点击按钮“移动位置“。
（7）移动R3到第一次搬运，切换到“Spot_Simulation”，并点击“模拟”机器人（R1，R2，R4，R5，R6）将开始运行，R3将进行搬运。
（8）密切观看模拟，每当R3在150mm以内范围，仿真机器人会停止。
注意：:所有斜粗体字代表在Robcad的术语，粗体字代表命令，作为它的标准。
上述方法是解释为干涉和明确的点，但它需要了解，同样的方法需要遵循的路径段，如第一次的搬运，清除下一个干涉，中间休息，是十分必要的，上面提到的片段必须是从干扰和干涉检查，不应该被认为只有在特定点，它应该适用于特定部分。
同样的方法和碰撞对需要为每个过程和所有的机器人来创建，以此来作为标准的一部分，即使一对可以适用于超过一个机器人。
robcad教学
1．工作路径设置完成后，将co数据copy到library文件夹中。
2．点击Workcell
3．点屏幕右侧的Get component。
4．在黄框中选择要读入的co文件，点ok即可导入。
屏幕操作
1． 屏幕移动：按住右键拖动。
2． 缩放： 按住中键左右拖动。向右方大，向左缩小。
3． 旋转视角：同时按住中键和右键拖动。
手动操作机器人运动
1．导入一个机器人co
2．点屏幕右下角的motion图标
3．点Active mech，选择要控制的机器人。可以在列表中选，也可直接点选模型
5．双击一个关节，按住鼠标中键左右拖动，机器人就可相应转动。
6．取消控制机器人可点击View小老鼠。
项目文件夹中必须包含project和library两个文件夹。
project文件夹存放ce数据；library文件夹存放co数据，但co数据不能直接放到library文件夹中，必须再创建下一级文件夹分类存放。
设置工作路径
设置工作路径有两种方式：临时设置、永久设置。
临时设置：
1．设置project路径：点屏幕左上角的Robcad 点Project选种数据格式：ce和co
ce和co都是文件夹形式，里面包含许多个数据文件，其中有个文件是预览图。预览图需要手动添加。添加方法后叙介绍。
ce数据相当于CATIA的product文件，只包含装配信息。
co数据相当于CATIA的part文件，包含三维数据。
Robcad数据存放结构
2．点屏幕左上角的Robcad ? 点Project选项 ? 如下图，出现一个以第一步定义的Project name为名称的选项，点击该选项。
Robcad 9.0安装教程
安装准备0．安装过程中，需要注意，第一，在自己设定安装路径时，不能出现空格，中划线，或者中文字样，并且不允许电脑插着U盘或者移动硬盘，电脑配置较低，建议不安装本软件，安装前关闭各种防护软件。
整个过程在30分钟以上，请安心等待。
1．首先对电脑进行简单设置。
2．桌面右击选择个性化，后选择Windows7 Basic3．打开用户账户选择“用户账户控制设置”（图2），进入账户设置（图3），选择从不通知。
重启电脑设置才能生效。
下面进入安装过程1．打开ROBCAD_9.0，选择Runme应用程序，双击打开，出现图示画面，点击Install Robcad9.0进入安装界面。
安装过程中，一直点击NXET，直至程序安装完成，直到安装成功，出现下图画面，选择不立刻重启，然后选择“Finish”，退出Runme 安装程序。
2．选择安装文件夹ROBCAD_9.0.1r_PC并打开，选择文件ROBCAD_9.0.1r_PC文件夹打开后选择Robcad901r文件，双击打开安装等待，中途出现“下一步”则点击“下一步”。
安装完成后出现下图，点击“finish”等待计算机重启。
3．开机后出现图，选择ok4．进入安装程序ROBCAD_9.0，选择bin文件夹中的roblms文件并复制，粘贴至文件安装位置C:\Robcad\bin\lm，（此路径为默认安装路径，如果安装文件位置变化，需要自己做出调整）。
5．进入安装程序ROBCAD_9.0，选择usr文件夹中.robcad并复制，粘贴至C:\Robcad\usr，（同样的不是默认的安装路径时，自己做出调整），到此基本完成安装过程。
6.再安转换插件（jt文件转换为co）7.装cad translater安装完成后，不需重启电脑，即可打开Robcad了。
Robcad如何导入机器人
X,Y,Z，分别表示笛卡尔坐标三个方向。 Rx,Ry,Rz，分别表示绕XYZ三个轴方向旋转。 world即以世界坐标为参考系，Self以机器人原坐 标为参考系。 点击Step size弹出窗口可调节移动/旋转速度。 XYZ移动以毫米为单位，RxRyRz转动以角度为单位。
点击下面的坐标可直接输入值。
Robcad导入机器人
Байду номын сангаас
使用前，先确定所用项目和零件。 先定义好project和library文件夹位置！
加载好CELL文件，才能开始导入机器人！
在Robcad选择 Workcell
右侧弹出Layout 窗口
添加零件：
单击Get componet
弹出窗口后选择Library，在components 窗 口选择对应的机器人 co文件，可在预览图查 看是否为目标机器人。然后按OK确定。
加载成功！
移动机器人
鼠标右键后弹出对话框，
选择 Placement ，弹出 右边窗口。 用鼠标点取机器人（注意右上角PICK后面应该是Componet，如果为Entity将会选取部分） 正确选取，机器人会整个变成绿色。点击鼠标右键。
点击Objects，弹出右边对话框，再点击需 要移动的机器人。机器人名字会自动填充 到对话框，按Accept。
Robcad新手教程
a) 干 涉检查
1. 在Motion 窗口点选 ‘Motion ’→‘ Active mech’选 择要检查 干涉的机 器人，再 点‘ Target’ 选择要运 行的路径
2. 在MOtion 窗口点击 下图所示 按键检测 干涉情况
b) SOP 的制作
1. 点击‘ Robcad’ →‘ Workcell ’→‘ Sop’→ ‘ Sequence ’命名
6. 在 Operatio n窗口的 Predeces sors目录 下点击 Operatio n，然后 再在完成 第二步之 后生成的 图表中点 击前一个 建立的 Operatio atio n窗口的 Predeces sors目录 下点击 Operatio n，然后 再在完成 第二步之 后生成的 图表中点 击之前第 一个建立 的 Operatio n（此步 有多少机 器人就要 做多少 次）
5. 新建一个 Operatio n，把 Type改为 Mechanic ,Device 选测一把 焊枪， From选 Close， To选Open
2. 点击‘ Operatio n’命名 之后将 Type改为 Mechanic ，Device 选测一把 焊枪， From选 Open，To 选Close
3. 在 Operatio n窗口点 击左上角 的 Operatio n,命名之 后将Type 改为 Robot,然 后选定机 器人与对 应的路径
Robcad离线编程
巨一自动化装备有限公司
Robcad 离线编程流程 v1.0
点击 Kuka KR C1 Spot 对话框里 Tools-copy attributes 按钮，选择 speed，弹出 Copy attributes 对话框，在 Path Location list 处选择要生成程序的路径，在 From Location 处选 择该路径第一个点，然后点击 accept 关闭对话框。
4.2 选择路径 点击 Teach pendant 按钮，打开 Kuka KR C1 Spot 对话框，点击该对话框里的 Path 按
钮，选择要生成程序的路径，然后点击 tools 按钮上方的 对应点的参数信息，如图所示。
按钮，就可以看到该路径
4.3 选择 base 坐标 点击该对话框下方的 Setup 按钮，打开 Setup and Global Library 对话框，点击该对话
-4-
巨一自动化装备有限公司
Robcad 离线编程流程 v1.0
4.6 定义路径 Frames、Velocity、Acceleration、Zone 等参数信息 点击 Kuka KR C1 Spot 对话框里 Frames 按钮，选择 Tool 和 Base 坐标。点击 Tools-copy
attributes 按钮，选择 Frames，弹出 Copy attributes 对话框，在 Path Location list 处选择要 生成程序的路径，在 From Location 处选择该路径第一个点，然后点击 accept 关闭对话框。
3. Teach Locations
点击 Motion 按钮，在打开的对话框里点击 Active mech 选择要生成程序对应的机
器人，点击 Target 按钮选择对应的路径。 点击 Solutions and turns 按钮选择合适的机器人姿态，并 teach 路径第一点或者其它机
Robcad使用教程
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将焊点编制成组：点击右下侧①Path Editor图标后将会显示所有焊点的设计树
（右侧红框），点击②Create path后再③处显示默认名字pa1，然后在④内添加所 需要的焊点来生成焊点组。
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创建焊接轨迹：1.点击右下侧①motion图标后点击②active mech来选择机器人，
再点击③target来选择焊点，可以单选也可组选。再点击播放至最后一个焊点焊接 结束，然后再进行机器人移动轨迹的制作。
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点击② project,可以单选或者框选③焊点,再选择④焊点所在的车模部件,然后再点击
⑸后选择焊点并将焊钳进入方向修改为Z(长虚线).或者右键选择Placement后修改
坐标方向.
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修改焊枪坐标:点击Motion中的①图标，在②Active intervl中选择机器人，然后
角的 Robcad .. 点① Warking选项,再点击右侧② Get component选项,然后选择要 读入的③ co文件，点ok即可导入。
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设置机器人的位置:导入一个机器人co .选择机器人(F12切换整体与部件)后右键选
ROBCAD教程
Table of ContentsChapter 1. Introduction to eM-Workplace1.1Basics of Robcad operation 1.2View Control in e-M Workplace 1.3Entity and component conceptChapter 2. Modeling2.1 Setup World2.2 Display tool 2.3 Files2.4 Modeling Basics2.5 Opening and editing of direct models in rob cadChapter 3. Fundamentals of Kinematics3.1 Assigning Kinematics 3.2 Creating Devices3.3 Reading the States Command 3.4 DataChapter 4. Processing4.1 Creation of Library and project,4.2 Project and library setting.4.3 Placement of Robots and tools ( Work cell buildup)4.4 Tool V alidation (Static Collision)4.5 Auto placeChapter 5. Paths generations5.1 Creation of locations5.2 Robot path Creation. (Path editor)5.3 Attribute Assignment 5.4 Robot motions setting 5.5 Tcp settingChapter 6. Simulation6.1 Simulation of motion function: Move Commands 6.2 Path Finalizing and Dynamic collision detection 6.3 Interference checkingChapter 7. eM–Spot Worldw.d oc u -t r a c k.cwo7.1 Generation of weld location7.2 Different options to create weld location 7.3 Creation of weld tcp and remote tcp 7.4 Weld path editor 7.5 Spot setupChapter 8. eM OLP.8.1 Olp editor8.2 assigning attributes and different aux data 8.3 Assigning a simple sequence of operationChapter 9. Other applications9.1 Layer Menu 9.2 Tree Menu 9.3 Mc Rose9.4 View Manager 9.5 Note Editor 9.6 Report Creator 9.7 Program Editorw.d oc u -t r a c k.cwoChapter 1. Introduction to eM-Workplace :The eM-Workplace Workcell product enables the user to arrange graphically the components in a robotic workcell, and to verify the feasibility of the arrangement by simulating the operations which these components are intended to perform in the actual workcell. The user can customize the working environment individually for each robot controller with which the eM-Workplace system is intended to function. In addition, optional, special-purpose applications supplied with the eM-Workplace workstation, are utilized from within Workcell.Workcell facilitates designing a workcell by enabling the user to:Position and orient components in the workcell.Duplicate components.Attach components to each other.Write task files for use in simulations.Execute task files by means of an interpreter, without first compiling them.Move mechanisms or individual joints by motion commands and panels.To verify both the workcell and its tasks, Workcell notifies of:Violations of the limits of joint movements.Violations of speed and acceleration limits.Collisions and near misses.1.1 Basics of Robcad operationRobcad is a simulation software from which we can Create devices, assign kinematics, path creation and design validation, writing program to the robot etc. And mainly used to atomize the manufacturing industry .The basic Robcad window is a GUI, Looks as shown below.This is a main Menu Bar containing eMpower, Setup, Display etc.The above menu bar shows us the version of the Software ,work cell menu,cell name,project rootdirectory and pick instance.1.2: Layout:This is the Main menu of the workcell mode of the Robcad, from these options we can build up the workcell as per the given standard layout. And also this commands which arrange a station or workcell. These commands bring components to the workcell and change their placements. They permit storing modified workcells in the database as desired.The store command is deactivated until load cell is issued to load a workcell.The cell description window allows users to enter textual identifying descriptions for cells, and manually generate a cell preview. By using these options to create a text description and graphic thumbnail, users can then more accurately and quickly identify cells for loading, by viewing the description, graphic preview or using the Thumbnails option to view multiple cells in the directory.1.2.1:Load Cell:Mainly to load ie. to open the cell this option is used. The dialog displays an icon cell preview, if one was created, to enable accurate selection of the desired workcell. The Thumbnails options allows displaying thumbnail graphic previews of all cells in the directory, if previews were created.After selecting a cell, loads and displays a workcell in the database, replacing any previously displayed workcell. Beginning an eM-Workplace operating session opens a new workcell named noname. This command enables replacing that workcell with a specified workcell. If the workcell contains a single robot, that robot is selected as the active mechanism; its parameters appear in the data window. The workcell is loaded with its working frame situated at the origin of the graphics space.1.2.2:Get Cell:This option is used to Merge the no of cells and to make one big cell Merges a workcell with the displayed workcell. Brings to the graphics display the contents of a workcell in the database, constituting it as a group within the currently displayed workcell. The location of the merged workcell is specified as described for the create frame command, and a name for the merged workcell can be specified. This command is intended especially to merge with the existing workcell a component or group of another workcell that had been stored by means of the store as command. Selecting this command displays a browser window for finding the workcell directory: the window displays directories in the left scrollable region,and workcells in the right scrollable region. But the workcell must be located in the currentdirectory: the left scrollable region is deactivatedw.d oc u -t r a c k.cwo1.2.3:Get Component:It is the most commonly used option by which we can retrivethe component from the prescribed library to buildup the work cell.Which Brings from the database a specified component model, and locates it as describedfor the create frame command.w.d oc u -t r a c k.cwoSelecting get component displays a browser window for finding and locating the component:the window displays components in the right scrollable region. Selecting current project displays directories in the left scrollable region, but that region is deactivated to require that the component be taken from the current project. If libraries is selected, the left scrollable region displays libraries : special directories located under the root library directory the name of which the $LIB_ROOT environment variable holds. Each library contains components which many workcells can include, without the need to duplicate the components for each workcell. Any library may be selected: the left scrollable region is activated.1.2.4:Robot Envolope:Generates the work envelope of a robot.Generates and displays the work envelope of a specified robot, as an entity pertaining to the robot. This command produces the work envelope by using only joints 1, 2 and 3 to move the robot TOOLFRAME, where joint 1 is the joint attached to the base link; the base link is the link whose frame has been constituted as the BASEFRAME. The movement ofthese joints remains within their limits. A work envelope is illustrated below.w.d oc u -t r a c k.cwoThe robot must meet five criteria:1.The robot is articulated , having only rotational joints without any prismatic joint.2.The axes of joints 2 and 3 are parallel.3.The axis of joint 1 is perpendicular to the axes of joints 2 and 3.4.The axis of joint 1 lies on the extension of the plane that the TOOLFRAME describes when it is moved by varying only joints 2 and 3.5.The robot does not have “overhead” reach capability, i.e., the limits for joints 2 and 3render the robot incapable of bringing the TOOLFRAME to intersect the extended axis of joint 1.The work envelope is shown in light shading, but its display can be changed like that of any other entity. Except for modifying its display, however, other eM-Workplace commands do not affect the work envelope.The precision of the work envelope depends on a specified tolerance ; a specified clearance permits increasing the size of the computed envelope beyond the actual, maximum reach of the robot. If the system is unable to produce the work envelope itself, it generates and displays a closed curve showing the outline of the work envelope. This curve can be modified by eM-Workplace commands applicable to curves.Apart from these some of the other commands which are used to edit or create the entities in the workcells, which are like delete, create frame,working frame Group and ungroup and attach, detach.1.3:Setup:c ommands that define units and other parameters needed for variouseM-Workplacecommands.Color: Determines the color of eM-Workplace items. Selecting the command displays a color editing window listing the command parameters and showing four color bars. The three leftmost bars determine the values of the red, green and blue components in the resultant color. The numerical value corresponding to the height of each bar is displayed below the bar; the range is 0–255. The rightmost bar shows the resultant color. To modify the color of a eM-Workplacew.d oc u -t r a c k.cwoConfiguration:This is a very important command used in robcad, that facilitate setting many parameters for eM-Workplace workcells and applications. They permit storing the parameters in the database and then applying them to any workcell as desired. The parameters enable presetting most of the commands in the Setup menu, many of the commands in the Display menu, and other parameters. The values are assigned automatically by issuing corresponding eM-Workplace commands, and then by issuing the Configuration/store command.The configuration parameters are stored in a special robcad_config.xml file. When a workcell is loaded, the system searches for a file by that name in five locations, in the order as listed below,and presets the configuration parameters according to the contents of the first file it encounters:1.working_directory/robcad_config_<userLoginName>.xml.2.working_directory /robcad_config.xml. This file permits preparing custom configurations to meet the exigencies of a specific application. To produce this file, prepare a $HOME/robcad_config.xml file as described for 2, below, and then copy it to the working directory by means of the copy command in the Data/File Utilities submenu.3.$HOME/robcad_config.xml, where $HOME represents the home directory of the current user.This file permits each user to prepare a configuration file to meet specific needs or to express personal preferences. To produce this file, prepare the configuration as desired, and issue the store command with the user parameter.4./usr/local/robcad/usr/robcad_config.xml. This file enables establishing a standard for all users of the eM-Workplace workstation. To produce this file, first prepare a $HOME/robcad_config.xml file as described for 2, above, and then copy it to the /usr/local/robcad/usr directory by means of the copy command in the Data/File Utilities submenu.5.$ROOT/dat/robcad_config.xml, where $ROOT is the eM-Workplace installation directory:the default installation directory is /usr/local/robcad. This file is the default supplied with the eM-Workplace system;it should not be modified .In addition to the five robcad_config.xml files listed above, a file having any desired name with a .xml suffix can be placed in the $HOME/ROBCAD directory; the load command can then use this file to modify the configuration of the current workcell as desired. The store command produces both this file and also the file described in 2, above.If the Cell View/store command under the Viewing header in the Display menu has been invoked for a particular workcell, it overrides corresponding configuration parameters.Hot Key viewer:All possible user hot key combinations are organized and displayed in a ers may configure hot key combinations to match those they commonly use in their preferred CAD systems (e.g., display all =Ctrl+A ). The setup file robcad.hotkeys contains the default settings and is stored in the /$ROBCAD/dat directory. Users may not modify hot key shortcuts that use function keys, or that enable viewing controlled by the mouse or keyboard (e.g.,Ctrl+Arrow up for zooming in). The setup file is loaded together with eM-Workplace only once, preventing users from editing the values during a working session in a similar way to the loading of the .robcad file.w.d oc u -t r a c k.cwoThe following table lists the hot key combinations that users can customize:Operation description Blank paths Shift p Blank locations Shift l Blank local locations Shift x Blank global locations Sh Blank local paths Shift v Blank global paths Shift b Toggle display Ctrl a Display all Ctrl t Display paths Ctrl p Display locations Ctrl l Display local locations Ct Display global locations Ctrl gDisplay local paths Ctrl v Display global paths Ctrl b Open Setup menu Alt s Open Display menu Alt d Open Layout menu Alt l Open Sop menu Alt o Open Query menu Alt q Open Data menu Alt a Save cellCtrl s Status window menubar Ctrl mStatus window update Ct Undo Ctrl u w CenterAlt vw.d oc u -t r a c k.cwoThe following table lists the hot key combinations that may not be modified:Operation description Shortcut Graphic window local setup F5Graphic window display mode F10Graphic window full view F3Graphic window global setup F6Graphic window pick intent F11Graphic window pick level F12Keyboard viewing zoom in Alt arrow up Keyboard viewing zoom out Alt arrow down Keyboard viewing pan up Shift arrow up Keyboard viewing pan down Shift arrow down Keyboard viewing pan left Shift arrow left Keyboard viewing pan right Shift arrow right Keyboard viewing rotate up Arrow up Keyboard viewing rotate down Ar Keyboard viewing rotate left Arrow left Keyboard viewing rotate right Arrow rightMouse viewing zoom in Middle button drag left Mouse viewing zoom outMiddle button drag rightMouse viewing zoom window in CtMouse viewing zoom window out Shift&Alt left button Mouse viewing pan Right buttonRotate around viewcenter Middle&right buttons Rotate around viewpoint Ctrl middle&right buttons Online help F1 / Help (on Sun)UI form copy list F7UI form paste list Shift F7 / F8UI form okF9Window output menuF4Apart from these some simple commands are floor, motion, project and units.w.d oc u -t r a c k.cwo1.4:Display:This command is same for all the pages. Mainly used to change thedisplay property of the cell and the entities.And which affect in various ways the display in the graphics windows. If more than one graphics window is open, these commands affect allof them.w.d oc u -t r a c k.cwo1.6:DATA: MENU of submenus containing commands that enhance the flexibility of the eM-Workplace system by providing a means for displaying and manipulating data in the database.The eM-Workplace system uses data comprising workcells, components, and various files not included as part of the workcells and components. A workcell is constituted as a directory containing the various data files needed to describe the workcell; its name has a .ce suffix. A component is similarly constituted as a directory containing the various data files needed to describe the component; its name has a .co suffix. A directory containing workcell and component directories, together with task, connection, simulation and other files as needed for a complete eM-Workplace work session, is designated a project .w.d oc u -t r a c k.cwoThe pack and go is utilized toseparate the cell and its respective library from the main library. And other options are like cad import and cad export and project,& library utilities.Views Control in eM-Workplace.(Mouse Right click Menus.)Chapter: 2 Modeling And Kinematics:In order to use the eM-Workplace system to simulate a workcell, or car-parts station, the workcell must be equipped with components either supplied with eM-Workplace or designed by the user. One example of a component is a fixture unit , a mechanical system that uses force to hold two car parts together. Its objective is to remove all degrees of freedom before welding occurs, and to ensure that movement does not occur during welding.It must be designed to avoid collision with adjacent units and with the welding gun, and to minimize the cost of manufacture. The eM-Fixtures product constitutes components as fixture units.The eM-Workplace Modeling and eM-Fixtures products enable designing units as well as all of the other components that a station may require, and also facilitates modifying existing designs. The components can range from simple production workpieces to functioning mechanisms.Units can be modeled either individually or as part of a station; if the latter, the stationremains displayed as desired throughout the use of the Modeling and eM-Fixtures products.The component being modeled is always an instance of the component prototype that occurs in the database as a directory with a .co suffix appended to its name. A station can contain one or more instances of a component prototype; the component being modeled can be one of these instances, or it can be an instance of an existing component not present in the station, or it can be an instance of a new component.The Modeling and eM-Fixtures products utilize advanced CAD techniques for three basic operations:1.Constructing primitive and composite bodies.2.Producing mechanisms, i.e., kinematic components.3.Utilizing viewing and placement functions.Solid bodies are constructed in four different ways:üSweeping or revolving surfaces into solid entities.üGenerating 3D primitive bodies.üCombining 3D primitive bodies by means of Boolean operations.üCombining 3D primitive bodies by means of assembly operations.üDesigning a mechanism includes defining its joints, specifying for each joint:The type of the joint:rotational or prismatic (linear).The parent (controlling)link and the child (controlled)link .The position and orientation of the axis of each joint.The limits of the motion, speed and acceleration of each joint.Whether or not motion depends on other joints.If the joint is part of a closed loop constituting a four-bar linkage.Apart from this we can also directly open the modeled component and modify etc.w.d oc u -t r a c k.cwo2.1: Files:This initiate, conclude, and otherwise affect the current modeling session. Ifthe open command has initiated a modeling session for a component, the load cell command is deactivated . To activate the load cell command, issue close to terminate the modeling session.Load Cell: Loads and displays a workcell in the database, replacing any previously displayed workcell. Beginning a Modeling operating session opens a new workcell named noname. This command enables replacing that workcell with a specified new or existing workcell.Open: Brings a component to the display and initiates a modeling session.Initiates a modeling session for a component, and loads an instance of a component prototype. The instance can be selected from a component instance present in the currently displayed workcell, or it can be an instance of an existing component prototype, or it can be an instance of a new component that does not yet occur in the database as a prototype. The component instance can be edited either independently or as part of a currently displayed workcell. If it is a new component instance being edited as part of a workcell, its location in the workcell can be specified as described for the create frame command in the Workcell Layout menu. If it is edited independently, the workcell is unloaded.Close: Terminates a modeling session with a component. If the component loaded by the open command has been modified by means of Toolbox commands, either its prototype in the database can be updated accordingly, the same as issuing the save command, or thechanges can be discarded.w.d oc u -t r a c k.cwoGet Subcomponent:Brings from the database a specified component model, andlocates it as described for the Workcell Layout/create frame command. The component is constituted as a subcomponent of the component being modeled.Current Library: Specifies the current library for the component. and used to load the component from the appended library. Specifies either a library or the working directory (“current project”) for use during the current operating session. A library is a special directory located within the library root directory: either the default /usr/Robcad/LIBRARIES directory, or another directory as specified by the Setup/Projects/set library root command.Save as New Component:By this option the entity of a component can be saved separately in a different name. Constitutes as an eM-Workplace prototype component a list of specified entities in the graphics space. The component that results from the operation is placed in the current project, and is independent of the root component (unit) being modeled.The origin frame of the new component is superimposed on the working frame.Apart form these some of the direct modeling tools are explained and shown in tool bar manager.2.2: Features:PIPES: This will generate and edit various and sundry pipes . To generate a pipe, specify first the name of a new or existing pipe, then the cross section of the pipe, and finally the curve that determines the run of the pipe. Duly specifying these parameters activates the accept item; the successfully produced pipe is displayed both in the main graphics window and also in a separate graphics window that opens to display exclusively the pipe.BEAM: This will create beams . To generate a beam, specify first the name of a new or existing beam, and then the cross-sectional profile that is swept to produce the beam.Finally specify either the starting and end points, or else the starting point and the direction and length, to determine the direction and distance to sweep the profile: unlike pipes, beams are always straight. Duly specifying these parameters activates the accept item; selectingaccept generates the beam and displays it in the main graphics window.This menu containing three submenus. The Pipes submenu contains commands for producing various kinds of pipes; the commands in the Beams submenu create beams; the commands in the NC Blocks submenu produce various kinds of numerical-control (NC) blocks.w.d oc u -t r a c k.cwoNCBLOCKS: create and evaluate NC block s . NC blocks are the only parts of a unit that contact the car-part surface; they are positioned at the end of clamps. To prevent possible damage to the car part, the NC blocks should conform to the shape of the car-part surface.To ensure the accuracy of the contact surface of the NC blocks,numerical control (NC)machines fabricate them. Three numerical-control machine manufacturing processes areused to fabricate NC blocks: Five-Axis Milling, Three-Axis Milling, and Electric-Discharge Machine (EDM). eM-Workplace currently supports only Five-Axis Milling and EDM. The Five-Axis Milling process fabricates the NC block by cutting its contact surface in three dimensions. This process is used when the NC block is generated by means of the NC Block/cut command. The EDM process fabricates the NC block by cutting its contact surface in “two and a half”dimensions: a 2D contour is swept along the normal to its plane to produce a 3D NC block. This process is used when the NC block is generated by using the NC Block/sweep or ruled nc block command. It is a less expensive process than Five-Axis Milling, and can be used when the car-part shape varies only in the two dimensions of the contour.Before creating an NC block, perform two steps from within eM-Line:1.Issue the read or assign option of the eM-Line Prepare/Import/PLPs command to create a PLP on the car part at the desired clamping location for each NC block to be created. Assign to the PLPs a function of clamping or resting.w.d oc u -t r a c k.cwow.d o cu-t r a c k.cw o2.3: Tool Box Manager:It is Combination of all tools which includes 2-D,3-D and Surface editing tools.PANEL of icons (toolboxes) that represent commands and submenus, located at the lower-right corner of the eM-Workplace display. This document describes only the toolboxes that constitute part of the Modeling product. The remaining toolboxes are separate applications and are described separately.2.3.1General tool:123 4 5 6This tool is divided in to threesection like EDIT,FRAME andGROUPS, that edit in various waysa unit, component or other entity;that generate frames, move theworking frame, and displayself-origin frames; and create andedit groups and assembliesw.d o cu-t r a ck.cw o2.3.2: 2-D Sketcher:If solid creation specifies polyhedral approximation, these solids are represented as polyhedral approximations with a specified number of sides.These commands can be used with a 2D graphics window as opened by the 2D Window/open command, in order to produce a umerical-control (NC)block for holding a workpiece. The modifications can be effected, however, either in the 2D graphics window or in the main graphics window; the results appear simultaneously in both windows.2.3.3: 3-D Sketcher:This is a command by which we can generate and edit solidentities in the graphics space. They generate various solid primitives, and combine these primitives by means of three Boolean operations. The solid creation command specifies whether the system generates solids that are represented exactly, or as polyhedrons with a specified polyhedral approximation: it specifies the number of sides for the approximation.We can also create the primitive objects like cube, box, wedge, cylinder, cone, sphere, torus and ring commands each generates a solid either with its frame superimposed on a specified frame , or such that the origin of its frame is placed on a point and its Z axis is parallel to a line, with the other two axes of its frame having an arbitrary orientation. The frame can be specified by selecting any individual frame, or by selecting an entity for which to use its frame, or it by picking anywhere in the graphics space. The last option places the origin of the frame of the solid at the projection of the picked point onto the working plane, the X-Y plane of the working frame; and orients the frame parallel to the working frame. The Subtool is shown below.This is a special 2-D tool used to create may geometrical features in the modeling world.The created geometries are used either in the 3-D operation or in the kinematics. And these are the simple 2-d tool options which are created same as in the other engineering tools like Auto cad, CA TIA etc. which generate and edit entities in the graphics space. These entities have fewer than three dimensions; they include points, lines, polylines, arcs, circles,and curves. The Edit commands produce polylines from curves and polygons from polylines; the sweep commands produce solids from curves. If the solid creation command in the 3D Sketcher submenu specifies exact, the solids are exact representations.w.d oc u -t r a c k.cwo3-D Sketcher.2.3.4: Surface:which generate and edit surfaces in the graphics space. All of thesesurfaces are true surfaces, but no planar surfaces are displayed as faceted.The frame of the surface that the revolution, ruled through curves, surface by border, sweep along direction and offset surface commands produce, is superimposed on the origin frame of the component being modeled. The frame of the surfaces that the rectangle by diagonal,polygon, polygon by points, and polygon from curve commands produce, is located at the center of the surface with the Z axis normal to the surface and the X axis pointing to a system-determined first vertex .2.3.5: Query:This command is used to know the information of the component,measurethe entity,and to know the unit etc,,like wise to enquire regarding the entity mainly this command is applicable.And the Placement editor is extensively used to move place or put and many moreoptions, is explained seperatly in the other chapterw.d oc u -t r a c k.cwo。
Robcad使用教程
在创建特征时，您可以选择应用材料属性，如密度、弹性模量等，以模拟实际材料的特性。
选择特征类型
在Robcad中，您可以创建各种特征，如凸台、凹槽、倒角等。选择“创建特征”命令，然后选择所需的特征类型。
特征创建
导入组件
01
在Robcad中，您可以将其他CAD文件导入到装配中。选择“导入组件”命令，然后选择要导入的CAD文件。
文件操作
缩放视图
在Robcad中，您可以使用鼠标滚轮或缩放工具来缩放视图，以便更好地查看模型的不同部分。
平移视图
在Robcad中，您可以使用平移工具来移动视图，以便查看模型的更多区域。
旋转视图
在Robcad中，您可以使用旋转工具来旋转视图，以便从不同角度查看模型。
视图操作
03
02
01
03
复制部件
优化结果
Robcad会提供详细的优化报告，包括优化前后的对比、优化过程的图表等，帮助用户更好地理解优化效果。
优化目标
Robcad的优化设计功能可以帮助用户根据不同的优化目标，如效率、路径长度、运动平滑度等，对机器人进行优化。
优化设计
工程图模板
Robcad内置了丰富的工程图模板，用户可以根据需要选择合适的模板进行工程图生成。
碰撞检测
Robcad支持多种碰撞类型，包括几何碰撞、运动碰撞和干涉碰撞，以满足不同场景的需求。
碰撞类型
Robcad会以高亮显示、声音提示或报告的形式输出碰撞结果，方便用户及时发现和解决潜在问题。
碰撞结果
碰撞检测
优化算法
Robcad采用了多种先进的优化算法，如遗传算法、模拟退火算法等，以实现高效、准确的优化结果。
该软件广泛应用于汽车、航空、电子、家电等制造业领域，为工业自动化提供强大的技术支持。
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Robcad V9.0
北京迪基透科技有限公司
2015/10/20
2
目录
Robcad简介 1. 产品概述： Robcad是一款工作单元仿真工具，可用于开发、仿真、优化、验证和离线设计 设备机器人和自动制造流程，可处理点焊、弧焊、切割和喷漆等多种流程。 2. 主要功能： 工作单元的三维布局 多个机器人的准确仿真和同步 用于机器人放置、设备选择、路径规划与优化、程序生成及冲突检测的自动 优化工具 3. 主要益处： 在规划早期阶段检测仿真问题 根据企业标准来验证和优化焊接等程序，准确的将机器人程序下载到生产车间 提高生产质量、准确性和获利能力
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
10
目录
用户界面 1. 用户界面组成：主要由通用功能模块、3D窗口、功能菜单、菜单工具箱、信息 窗口和工作单元的状态几部分组成。
通用功能模块 3D窗口 功能菜单
信息窗口
工作单元的状态
菜单工具箱
Robcad V9.0
北京迪基透科技有限公司
想要关闭某个窗口时，按“F5”然后点击“Close Window”即可。
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
25
目录
通用功能模块
2. layout模块： Load cell：加载ce文件； Get cell：加载一个cell和原来的cell合成一个新cell文件； Store/Store as：保存cell/另存为cell文件； Delete：删除对象； Rename：重命名对象的名称； Create frame：创建frame（有3种创建方式）； Working frame：创建Working frame；
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
9
目录
载入资源
Layout Get component:在Layout模块下打开Get component命令，在弹出的
对话框中选择要加载的资源。
当前project 路径下资源
当前library 路径下资源
此处可 选加载 位置
此处可命名 新名称
对象A随着B一起移动，B也随着A一起移动。
要固定的对象A
被固定的对象B
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
27
目录
通用功能模块
3. Query模块： Project or directory： ① Component：单击可查看当前Project路径下的co文件； ② Cells：单击可查看当前Project路径下的ce文件。 Current cell： Search：查找当前cell内的资源。 Lists： ① Components：查看当前cell内的资源； ② Components frames：查看当前cell内资源的frame； ③ Entities：查看当前cell内资源的frames、points和surfaces等实体。
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
24
目录
通用功能模块
1. Display模块： Viewing： ① View direction：以某实体为中心视角； ② View Points：创建某一视角； ③ Viewing panel：调整3D窗口亮度、地板大小和地板高度等； ④ Open graphics windows：同时打开多个3D窗口； ⑤ Cell view：保存窗口设置
自身Frame 目标Frame 自身坐标系 沿参考坐标系 沿自身坐标系
目标属性 Robcad V9.0
自身属性 北京迪基透科技有限公司 2015/10/20
20
目录
Place：
需要移动的对象,根据选择的参考点沿 直线方向移动,同时将移动过来的对象 的参考坐标保持不变。
Transfer Panel： ① 选择需要移动的对象(同时可选择多个对象）；
Robcad Training
北京迪基透科技有限公司
Beijing Digital Factory Technologies Co.,Ltd.
目录
1、Introduction and Kinematics 2、The eM-Spot Welding Process 3、The Spot Welding Process 4、Adding to Spot Welding Process 5、Mounted Workpiece Welding
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
19
目录
资源布局
Put： ① 需要移动的对象,根据选择的参考点沿直线方向移动,同时将移动过来的对象的
参考坐标系与参考坐标系保持一致。 ②需要移动的对象,根据选择的参考点沿直线方向移动,同时将移动过来的对象的 参考坐标保持不变。 参考坐标系
F5：窗口设置
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
13
目录
基本操作 1. 键盘快捷键操作： F10：切换显示模式，按F10键，3D窗口中的资源会在“shaded”和“wireframe” 之间 切换； F11:选取模式切换，按F11键，选取模式会在“Snap”和“Where picked”之间切换；
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
23
目录
通用功能模块
1. Display模块： Blank： ① Entity：隐藏某个或某些实体； ② By type：隐藏某种类型的对象（Path、point等）； ③ By color：隐藏某种颜色的对象； ④ Path locs:隐藏路径点。
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
15
目录
基本操作 2. 鼠标操作： 左键：选择功能； 中键:放大和缩小视角功能； 右键：现实对象的平移； 中键+右键：0~180度旋转； 3. 其他快捷键：见右图所示，在Setup 模块下的Hot key viewer中可以查看 其他快捷键的命令
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
6
目录
项目文件的创建 3. 创建项目流程：
3.1 创建“project”和“library”
此处须注意：Path路径为 将复制好的路径粘贴上去 （单击鼠标中键即可）
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
7
目录
Plant 工艺规划和厂房布局.etc
Robcad V9.0
plant_0001
北京迪基透科技有限公司 4
2015/10/20
目录
文件格式及转换 1. co文件：
co文件由文件夹组成，一般可通过CATIA或UG等软件转换生成，co文件
是Robcad所调用的基本文件，一个co文件既是一个三维数模。 2. ce文件： 仿真生成后的文件即ce文件，ce文件也是一个文件夹，它记录了工作单元 的三维布局、运动关系和机器人的程序等信息。 3. 文件转换
项目文件的创建 3. 创建项目流程：
3.2 储存“project”和删除project
Robcad V9.0பைடு நூலகம்
北京迪基透科技有限公司
2015/10/20
8
目录
项目文件的创建 4. 加载项目
Robcad Project test:
打开Robcad模块下拉菜单， 单击“Project”,选择要进入的项目即可。
Robcad V9.0 北京迪基透科技有限公司 2015/10/20 3
1 Introduction and Kinematics
1: Spot Welding Primer and Overview
Spot Welding Primer Station Robcad Fixture Tipdress BIW PLC/RC/WC/电控柜/水汽回路.etc Assigning welding points to each robot Assigning a welding gun and shanks to each robot Line Assigning the order of welding the points and the order of therobots Placing the robots and the workpieces relative to each other line_200 Gun/Gripper ATC/etc station_02
Robcad V9.0
北京迪基透科技有限公司
2015/10/20
5
目录
项目文件的创建 1. 项目结构： 通常由项目名称（由英文字母、下划线或数字组成）命名一个文件夹。项目文 件夹下一般分2个文件夹：project和library文件夹（文件夹名称大小写均可）。 一般仿真生产的ce文件会自动保存在project文件夹下；各种资源数模一般都存 放在library文件夹下。 2. 结构示意图：
②鼠标左键单击参考坐标系； ③鼠标左键单击移动轴或旋转轴； ④ 3D窗口中拖动鼠标中键实现平移或旋转，也可通过 在绝对坐标或相对移动中输入数值实现； ⑤单击“RESET”，对象将返回操作前位置。
Robcad V9.0 北京迪基透科技有限公司 21
2015/10/20
目录
通用功能模块
1. Display模块： Visibility： Shade、Wire、HLR、Full、Mid、Low。