DELMIA software: teach programming with robot body language

Create a robot workstation in the "DeviceTaskDefinition" module, as shown in the following simple robot workstation. This example adds a FANUC R2000iA-165F robot from the robot library that comes with the DELMIA software, and installs a hand tool on the robot.
Robot body language programming is implemented in the robot offline programming module of DELMIA software. Under the "Start" menu, click "Resource Details" → "RobotOfflineProgramming" in sequence to enter the robot offline programming module.
Robot body language programming function
Click the "NativeRobotLanguageTeach" command button in the toolbar on the right, and then click the robot resource node in the project tree on the left to pop up the NRLTeach dialog box. This is the robot body language teach pendant.
Unlike the "Teachadevice" teach pendant in the DeviceTaskDefinition module, programming with the NRLTeach teach pendant can directly teach and write a robot body language program. The robot body of different brands is added to the workstation. The NRLTeach teach pendant interface also displays different programming instructions. Information about the programming instructions of the robot body is recorded in the robot controller. Of course, the higher the version of DELMIA software, the more complete the robot library, the higher the corresponding robot controller system version, and the richer the robot commands supported in the NRLTeach teach pendant.
Robot teaching programming
First, create a robot running task. Click the "New" command button after CurrentlySelectedRobotTask, enter the robot task name in the pop-up CreateNewRobotTask dialog box, and create a robot running task.
Click on the robot motion instructions under the "MotionInstructions" function area, such as the joint motion instruction "J", in the pop-up JCommandButtonDialog dialog box, you can set the robot motion instruction parameters, such as point data format, point number, running speed, turning form, etc. , After setting, click "OK" button.
In the pop-up V5MotionOptions dialog box, you can set the robot target point type, reference coordinate system and other parameters, such as the target point as a transition point or process point, robot tool coordinate system (TCP), user coordinate system, etc. Here, you can click the "Jog" button to move the robot to a suitable position as a teaching point in the pop-up robot manual operation dialog box. Of course, you can also check the "MoveToExistingTag / Fastener" option, and then select the robot target point coordinates that have been set as robot teaching points. After setting, click the "Record" button, the robot point is added, and a motion program is taught.
At this time, the taught robot program is displayed in the program preview box of the NRLTeach teach pendant. It can be seen that the taught program is the same as the real robot language program.
In the NRLTeach teaching pendant, you can click the "DisplayV5PropertiesofSelectedStatement" tool button on the left side of the program preview box to modify the robot program properties. The parameter options that support modification are the same as those in the V5MotionOptions dialog box in the previous step.
You can also click the "DisplayNRLPropertiesofSelectedStatement" tool button to modify the language commands of the robot body, and modify the parameter options to be consistent with the parameter options in the JCommandButtonDialog dialog box.
In addition, you can use the "CopySelectedNRLStatement" tool, "PasteNRLStatement" tool, "DeleteSelectedNRLStatement" tool to copy, paste or delete the taught robot body language program.
In addition to teaching robot motion programs, NRLTeach teach pendant can also write I / O signal logic program, process instruction program and program call, such as spot welding instruction program "SPOT", arc welding instruction "ArcStart", etc. The program written is the same as the real robot program, so I won't repeat it here.
Robot program simulation run After
the robot program is written, you can run the simulation through the function options under the Execute function area in the teach pendant, where "StepFwd" is a single step forward operation, "StepBwd" is a single step backward operation, and "Run" is All operation operations, "Hold" are pause operation operations, these operations are also consistent with the real robot teach pendant manual operation function.
You can also run the robot program through the operation buttons under the SimulationControls function area. The related functions are the same as the simulation run function in the "Teachadevice" in the DeviceTaskDefinition module.
Robot program offline export and import In
NRLTeach teach pendant, you can use the "DownloadRobotProgram" command or the "UploadRobotProgram" command to export or import the taught robot program. The operation steps are the same as the robot offline program export and import operations described earlier. It should be noted that before the robot offline program is exported or imported, it is necessary to set the controller type consistent with the robot body brand and the Java operating environment in the DELMIA software option in advance.