Transcript for "Mastering Arc Welding with DELMIA Robotics":
Good morning and good afternoon as well to everyone. Thank you for joining me today at this webinar on mastering arc welding with DELMIA robotics. My name is Shubham. I'm one of the applications engineer here at, GoEngineer. I mainly focus on data management solutions as well as digital manufacturing solution. So DELMIA is one of the part of that. And today I'm going to present this webinar, which which is focused on arc welding on, using DELMIA robotics. So this webinar is, part of our DELMIA robotics series, and it's the third one in this series. So if you haven't watched the first one, please feel free to watch it. It's available on demand. We we can paste the link later on in the chat window as well. So, in the first webinar, we kind of covered, an overview, a high level overview of what three d experience platform is and, what Dell'Mere robotics is, what are the advantages that it it provides, as well as what are the robot operations that we cater along with all the different brands that are available, robot brands that are available. So we have, like, a library of 2,000 plus robots. And then, once you create your robot cell, on on the three experience platform on DELMIA, how we can expand that digital thread by connecting it, let's say, to an issue management system or to virtual commissioning or use the same layout layout for doing, factory flow simulations, which can give you interesting results. So this is what we called in the first time, first webinar, but, feel free to watch it to get some, in-depth introduction to telnet robotics. And then the second one was, focused on material handling. So we kinda did, created a robot cell in our plant layout and then created manual targets, and then saw how the software uses inverse kinematics to reach those target and then created trajectories and finally robot tasks using input output to simulate our entire, layout, entire work cell. And then at the end, we downloaded the robot program. So if you are someone looking for, you know, using, you're using raw like, using robotics for some manual targets or point to point point application, feel free to watch it, and, and you you'll get some information on how you how you can achieve this using Delmar Robotics. And today, we are going to we are in our in our third webinar, which is mainly focused on curve based processes, which include arc welding, sealant, depositions, laser cutting processes, etcetera. So the agenda for today is, again, a very quick high level introduction to, Delmar Robotics portfolio. Then, just a quick introduction in on on, like, what are the curve based processing processes and some of the features of that. And then we'll get into live demo where we are going to create, robot cell, connect robot equipments together, so different equipments like, the torch, robot rails, workplace positioner, and everything together. And then once that is done, we'll create some art trajectories, right from the part geometry. So you'll see how how easy it is to pick curves, for creating those trajectories. And then we'll also create some specialized motion patterns like weaving and see how we can achieve those. At the end, we'll program everything using our auxiliary axis, and then we'll get into, our q and a sessions. So if you have any questions during the webinar, feel free to type it in, in q and a. Alright. So this is what DELMIA robotics covers in terms of operations, robot operations. So we start right from manual targets like pick and place, palletization, material handling to, point based application like spot welding, drilling, and riveting as well as surface applications. And then, a curve based application we are for, which we are focusing today. So DELMIA is, present on two d experience platform, and how it works is, on the platform, we have different roles, which which are used to perform different applications. For example, for doing spot welding, we have a dedicated role, which which has a dedicated app, which has dedicated tools for point application. So the entire, user interface remains the same, but it's just a different app which you can easily, access through the compass, and you'll see that, you'll see that when I do a live demo. And then you can switch between those apps, and you'll get dedicated tools for for those specific application. So today, we are going to focus on arc welding. And, just a quick introduction about, what can be done for curve based processes. So as you can see on the on the left, we have a real window and then simulation on Delmar Robotics. So we can program arc, glue, sealant, deposit laser cutting processes. We can quickly generate well sim projectories using the, the product design geometry. So we can pick either an edge or a curve or between surface intersections if you have two surface intersecting each each other. We can just pick those two and say, where were they intersecting created trajectory there. So it becomes really easy and fast to pick curves. You can define and simulate controller specific profiles, which save all your, weld parameters, weld speeds, delays, and all those details. Because it is present on three d experience platform, which can connect directly to your CAD software if you have configured it accordingly. And if you are using your product, your workpiece directly from your CAD software, if there is any update on the product design, the robot path will update as well. So it has a interlinked connection between them. Any updates on product design will be reflected on on your in your robot cell as well. And then we'll, you can create, some special patterns like skip welding, multi pass weaving. At the end, you'll see, you can create well templates, which has presaved well parameters. You can simply import those and then, program your wells from there as well. That being said, let's move on to the software itself. So this is my, let's say the there are few ways of creating or creating layouts in in DELMIA. So, one of the ways is you can simply import if you have CAD models of your layouts, of all all of your components, then you can simply go ahead and import them from here. Or, let's see if you have a two d drawing, which I I also have it. So let me just turn on the wires option. So this is my two d layout. I have imported it. And once you import them, you start by positioning them correctly, and that's when you don't have them already created in your CAD CAD software. If If you have an assembly which you have created in your CAD software of your entire layout, you simply bring that in. Everything is in its position, and you can start straight away, just with with your programming. So, just a quick demo on how you can create a layout in case if you need to. So here you can see, we have several layout tools available like snap, align, distribute, create attachments. So we we are able to create relations like parent child relations. We are able to snap the, the components in its place. There is also a way where you can simply select a component and then, simply move it using the handles that we have right here. Let's use the snap command and see how easy it is to position it. So click on snap, click on fencing. So I want to position this fencing right, based on this drawing. So I will pick a local point which I want to use for positioning. So right here, I can go ahead to select three points on the circle. And then I'm just going to make sure that the orientation is correct. And once I do that, then I'm I'm gonna pick the target point on my two d two d layout. Right here, again, just make sure making sure that this orientation is correct. And as soon as I do that, press okay. You'll see I've positioned it correctly onto the toy. That that's how you can do that. Similarly, we have a library of 2,000 plus robots, and from there, I have brought in, the ARC made robot and the Fenech robot. And you can see I have all the mechanisms, all the joint values, joint limits, speed, excavation, all the necessary engineering ports like the base port, the the location where the tool will be connected, all of those already built in. So you just have to import that in your layout. And then I can click on snap, select here. Again, go back to local, click the robot, and then pick the target location, and I can position it correctly right there. And that's how you can you can just position everything. And once we do that, we are ready to start connecting all the robot equipments. Also, the the layout, you just have to do it once because it's a cloud based software. Once you do it once, anyone who has access to that tenant, will be able to access that layout in the latest saved state. So, there, you have all the history of what has happened. So, it it basically, you are working on the latest model, whoever has access to that to that, tenant, they can access the layout. Now once we have created a position, everything correctly, we are and you can see I have a torch here, a robot, a rail, a workpiece positioner, and then a couple of manufacturing products. Products are basically my workpieces. I need to connect them together to, so that they are under a single motion controller. Motion controller is, just a virtual controller, just just a way for the software for knowing that this all belongs to one single group. So I can do that by going into setup. Click click on set tool and then simply select the robot and then select the tool first. And when I do that, you'll see that the TCP is selected automatically because it was present on the torch itself. So now DCP has moved from end of the robot to end of the torch, and now I can press on okay. Same thing I will see. Again, go back to set tool, select the robot, select the rail. And from this option for under usage type before we had, end of arm tooling, but we can select the type. So it's a rail and then press okay. And same thing. Go to my robot. Select the positioner, and, again, you could you can see the type of, the type of tool that is work disposition and press on. Okay? So now if I if you check the motion controller, motion groups, you'll be you'll see that all of this belong to a single group, which means that I'm able to access all of their, control values or joint values from a single jog panel. Here you can see I have, my web based positioner. I have my robot motions. There are ways, we can add kinematics. So let's see if you have, if you have components that you bring in which are needed to have some kind of motions, like, for us, in our case, this rail need to have kinematics so that it can move from, it can move the robot. So we can right click, open it in a new app, and then we are able to add kinematics to it. So I'm just going to hide the wires and exit three d simulation. So we're able to define kinematics for this. So, just simply select define kinematics From here, click on click on the this joint. So this joint is going to be my fixed. So it's selected as fixed, and then I'm able to create different types of joints depending on the type of motion that it will it will have. It can be, a revolute. It can be a prismatic. So based on that, you are able to create different types of joints for your workplace positioners, for rail gantries, for, let's grip grippers and all of those type of components. And then I will click on the robot mount. So this is going to be prismatic respect to the fixed joint, and it will move in x direction. Once I do that, I'm able to then define the travel limits, as well as speed and acceleration. So once it applies that controller, we'll go to the motion controller from here to find it. And then from my travel limits, I will add this from zero to 3,200. I can define speed and acceleration as well. And now if I go to my jog mechanism, you can see that I am able to move this. And as soon as I as soon as it goes out of the limit, you can see it turns red. That's it. I can simply close it, and all the changes will be updated into the layout itself. Let's see. Go to the jog again. Now I have my joint driver for my reel as well. Alright. This is what you do before starting to to program. We can also go ahead and create a home position. So depending on on the on the product that we are working on, for example, if you are working on this August, I can go ahead and create a home position for August. And from here, I can access the jog menu and apply joint values to my Augur. You can see the robot is in singularity, so I'm gonna quickly sort this out. And then rotate this and apply. So now new joint values are apply are applied to our auger home position. Similarly, I'm going to add one more, and this is going to be battery pack. Only thing I will change here is rotate my positioner by one eighty degree Apply. One more I will need, and you'll see that later on. Why? My feedback template. And I'm going to move some, robot on the positioner kinda in the center. Alright. Once we have all the home positions defined, then we can simply right click on the robot and access, access those home positions from there. Home positions and battery pack. Let's start by creating some arc trajectories. To do that, go into the arc, create our trajectories, and then select the robot itself. Now this is where all the magic happens. I'm going to call this a skip weld. Now I I need to pick the contour. And before doing that, I'm going to go I can access the jog menu right from here and then just rotate. Sorry. I'm gonna rotate, the positioner to somewhere like minus 60 and apply and close. And now I'm gonna click on this plus sign, which will help me pick the edge where I want to execute the weld. I can pick those contours. This is where I said we are able to pick edge curves or or, based on the part geometry. So there are different ways of doing that. If you want to do based on surface intersection, based on parts intersection, or just pick curves, you can do that. So I'm going to select that option and then zoom in, and let's see. I pick this. Oops. So pick this. And then from my base, I'm gonna pick this and check the preview. So this is going to be my curve and press on okay. And now once I do that, a first thing that I would see is the direction of welds. It starts from this side to this side. So I can simply, like, reverse it by clicking on this arrow. Then I can define start and end offsets. If I want to start the weld after certain distance, I can do that. Or if I want to end it up before certain distance, I can do that. Can have base and wall offset defined here as well as well as wire offset and wire angle. You can define the mode, so how it creates points based on distance, speed, or points. This is where you can define the orientation. So your base, they can roll angles. Looks good to me, but I'm able to manipulate that right from here. So either from the graphic window or from my art trajectory window as well. And once I do that, I can add the safe path. So the approach distance as well as the depart distance, I will make it, like, 300. Can add flare. Flare is mainly for the start and for for the start angle and and angle of the weld. And from here, I can define what type of weld I want, standard, skip, or multi pass. If you need to have multi pass, we can do that. If you need to have a skip, we can do that. I'm gonna click on skip, and then you can see I have, from here, I can define how many segments I want, if if I want the land, length of first or last well as separate and just press on. Okay? And this is my weld trajectory. Another way of doing this is change the home position is through weld template system. So weld template is a way of storing your weld parameters into a text file, and then you can simply call that, and it will it will have all the necessary weld parameters which are already defined in the text file. Here you can see when I selected weld template, it brought out this window. And from here, I can define the base. So I want to pick the base. And if the base is going to be same for all the six segments, I can simply supply to all. And then for wall, I am simply going to select this. First, second one will be this. Third will be this. Fourth, fifth, and sixth. And when I click next, so it will have all the necessary weld parameters like, wire angles, wake angle, approach distance, weld speed profiles, automatically because they were all defined. From here, we can change that. So let's say for segment one, we want the approach to be slightly higher. For segment three, which is here, we I want that depart to be higher. For four, I want the approach to be higher and then six, I want that depart. And when I press okay, it won't just create this art trajectories for me, but it will also go ahead and create a task. So this is my well task, which I can open, add some, some intermediate positions if required, and then export it into a robot program. Another, let's say we have a work piece like this, which has, like, revolution motion or a circular shape, we are able to create those type of trajectories as well using the same methods. If I go into my arc, create arc trajectory, and then I will call it as over. From here, I'm going to click on plus, and now I'm going to go to service intersection. So you'll see I can select the base and then just by selecting one single wall surface, because this option is turned on, which is propagate selection along tangent, it will select all the tangent surfaces. And if I look at the preview, you can see the trajectory created. So these are all the 256, two sixty five points that it created. And from here, I can define the orientation. So if I select that, this is where we can define again our base, break, and rule angle and check if the angle is correct. It doesn't seem correct, so I'm going to change this. And I think it's mainly the roll. So I'm going to change that to, like, minus five. And this looks good. So these these are different ways of creating trajectory. We can simply pick directly from the part geometry or, you can pick edge curves or use surface or part intersection methods. And once we have created our trajectories, then we can create certain arc profiles. So, our profiles are basically something that saved your saves your weld parameters. So here you can see we have generic, some some generic profiles already present on the robot, like tool motion accuracy. Then we can go ahead and create certain applicative profiles. So this applicative profiles are something that saves, well, speeds, any any delay that you need to have. So if we can save all of those information, and then using that, we can create our covell profiles. And so we have defined, how to start, what will be the weld speed, what will be the delay, and then at the end, what once the weld is complete and, again, what will be the delay. And using that, I can then go to my art corporation, select the robot, and then from here, I'm gonna go ahead and select the trajectory which I want to use. So let's say I want to use skip weld. And from here, I can define the profile and press on okay. So now I have the skip weld, robot task with me. If I could double click, you you'll be able to see all the points, all the approach points, the weld points right here. And from here, if I click on that, the robot will move to that position. K. Once we have created those tasks, it's time for programming the auxiliary axis. So once we so now we need to, to program this rail and work this position together so that it moves constantly. It moves the robot from one point to another point. To do that, I will select the task, go to my programming, and select auxiliary access programming. So for my auger task, it will be command three. So it this is where it I have it, and I will use the current tool approach with minimize motion. And then I will have the cantery at a constant offset. Once I compute and now if I play the simulation here, You can see the weld happening. We just pass this up. And this is basically, ready to download program, which I can simply, export it in the native robot language. If there are any additional instructions that are to be added manually, then we can do that as well. So if I right click and go to another teach, from here, I am able to add any additional instructions if needed. So it will give me a separate window, or I can do that once I've downloaded it in a separate text file on it in its own, local language. Right. So here is my nadal teach, and I have all the so well speed this it gets from the profile that we have created and all the other, instructions in my program. Also going to program my skip failed task. So double click on the skip failed. I'm just gonna do it for auxiliary axis. For my skip, well, it will just be command one. We'll do a constant offset of 300 millimeter and press. Okay. Alright. So these are, creating standard trajectory, standard motions, but let's say if you want to create some specialized motion like weaving, then we are able to do that as well. So we saved all the information for weaving and profiles, and in our profiles that I shown previously. So to do that, I will go to my art menu, create our profile, select the robot. And from here, if I go to my add on, second turn on weaving. And we can do, three types of weaving, zigzag, l shaped, triangular. So let's say if I want to do zig zag, I can define the frequency and height. So let's say I wanted nine millimeter in length and then five in height, and I can define dwell as well if required. And now I can press on. Okay. So in my profile section, you will see I have, similarly, I have l shaped weaving as well. So from here, there's my l shaped weaving, and then I have triangular as well. Just going to rename this as Zig Zag. And and then I've created using the same, surface intersection method. I have created trajectories. So I have triangular l shape and zed. So trajectory for all of them. Only thing I have to do now is go to create operation, select robot, select the zigzag, and most important thing is clear select the correct arc profile because that's how it will know that it need to do a weaving pattern. And press okay. Let's create a single task, for all the three weaving option. So, like, a master task. Two. And in here, I'm going to call this three. First will be my zigzag and my l shape and then triangular. One thing I need to do is program my zigzag for auxiliary access. Again, it will be a wheel that should do all the work. And now if I play the master task, Zoom in. You'll see a different type of pattern for your weld. We speed this up faster. So, as you can see, we are able to very quickly create our trajectories. We are able to create we are able to very quickly create a layout, first of all. Then we can connect all the components very quickly, add kinematics to the one that that required motions. And then, once we have created a layout, we can create all the required profiles, which will save all the value parameters. And then you can create our trajectories and finally your programs which are ready to be downloaded in the native language. Just going to skip exit from here So this is my zigzag, and this is my l shape. So you can see a bigger difference in the pattern that it creates. Go to my, send this to home. Go to my analysis and output. And from here, I can click on create robot program and select the robot and the task that I want to download for this robot. Let's select one of them. Click on next. And now I have a ready to use program in dot l s format, which is the format for FENUP with all the necessary instructions. Can go ahead and add additional instructions if needed right here, and, those will be downloaded as well. We can execute position variables. We can execute certain, special, special operations. Like, if you have a vision system, we are able to import the the all the details from your existing program, which has, like, syntax for your vision system, and then those syntax will be present in our NRL teach. You can create your program here. You can add the syntax and then download that program so you have a ready to use program again. So, that's what I had today. Just a quick introduction on arc welding using DELMIA robotics. If you have any questions, feel free to add it to a q and a session, and we can we can take those now. Just a quick takeaway, with DELMIA robotics, we are able to program arc welding along with glue, sealant deposit, as well as laser cutting processes. We are able to easily create and modify geometry based arc welding trajectories. So simply picking edges, curves, or surface intersection. And, because we are, we we we are able to easily pick from the geometry, it makes creating those trajectories really quick and easy. We are able to, optimize our robot tools and workplace positioning so we can conduct studies like reach analysis. We can do auto t auto auto place. So, basically, once you've created your your trajectories, if you have multiple of them, you can use the auto place function, which will help you position it at the optimum location. So if you are you if you want to use it for your layout analysis, you can do that. You can easily prepare and analyze manufacturing data, can program specialized motions like skip, weaving, multipass. And then finally, because everything is on a single environment, single platform, you are able to update your robot path based on product designs. Because everything is interconnected, it makes it really quick and easy to work on the latest design. If you would like to stay updated with GoEngine newsletter, if you would like to know more about our training offerings or, about our social media, please feel free to connect with us. Follow us on social media, and you'll be, yeah, and you can stay updated with all the offerings that GoEngine here as of right now. Thank you for joining me today, and, hopefully, you enjoyed the webinar. You got some information, and we are we are able to connect in.