NX 10 mechatronics concept design

NX 10 mechatronics concept design.........................................................................................................................................................................................................................................................

Mechatronics Concept Designer What is it? Mechatronics Concept Designer is an application that you use to simulate the complex motion of mechanical systems interactively It is designed to support the early machine design phase that provides the basic machine concept including the mechanical, electrical, fluid, and software aspects It is a solution that transforms the machine creation process into an efficient mechatronics design approach This application is built on the following principles: Functional machine design One of the main instruments in this is the functional model, which forms the foundation to provide an interdisciplinary view of the mechatronics system machine It lets you lay the foundation for collaboration in detailed design by supporting the early design phase with a functional design approach The functional model provides the link between the data management of the different disciplines and the requirements This enables the traceability of the customer demand data down to the design departments Further, the functional model provides a supporting structure to come up with initial design concepts and has the features to perform an evaluation of design alternatives Early system validation Mechatronics Concept Designer introduces a verification technology that is built on a new simulation engine It helps validate concept designs at a very early stage of the development process Multidisciplinary support Mechatronics Concept Designer facilitates interdisciplinary concept design up front The following disciplines can jointly work on a project:    Mechanical engineer creates the design based on 3D shapes and kinematics Electrical engineer help select and position sensors and actuators Automation programmer designs the basic logical behavior of the machine He starts with time based behavior and then defines the event based control Modularity and reuse Mechatronics Concept Designer provides the ability to capture knowledge in components and store them in a library to enable the reuse of this knowledge in other projects Since the library components are based on already proven concepts, it improves the design quality and speeds up development Mechatronics Concept Designer supports the definition of functional units such as those in the VDW Standard Funktionsbeschreibung Where I find it? Application Mechatronics Concept Designer Mechatronics Concept Design workflow The following represents a typical machine design workflow using Mechatronics Concept Designer: Define and manage design requirements o Gather and structure requirements o Add derived requirements o Link requirements to each other o Add more details to requirements using embedded tools like Microsoft Word Create a functional model o Define basic functions of the system o Create a hierarchy based on a functional decomposition o Create and maintain alternatives for the functional design o Reuse functional units Create a logical model o Define the basic logical model of the system o Create a hierarchy based on the logical decomposition of the system Create tracelinks between the functional model and the logical model Define the mechanical concept o Define a rough 3D outline of the basic solution concept o Assign mechanical implementation objects to functional and logical tree o Add kinematics and dynamics Add basic physics and signals o Add basic physics and speed constraint and position constraint actuators o Add signal adaptors o Assign signal adaptor object to function and logical tree Define time based operations o Define how the actuators are controlled by operations o Arrange the sequence of operation with a time based notion o Assign operations to the corresponding functions in the function tree o Assign operations to the corresponding logics in the logical tree Add sensors o Add sensors that are triggered by collisions of system elements with sensor objects, or sensors that are defined by a signal adapter Define event based operations o Define operations that are triggered by events that are generated by sensors or other objects in the mechatronics systems, such as the position of an actuator o Assign operations to the corresponding functions in the function tree 10 Replace concept model with detailed model and transfer physics objects from the rough geometries to the detailed ones 11 Align sensors and actuators with ECAD 12 Export sequence of operation in PLCOpen XML format to a PLC engineering tool like STEP 13 Test PLC program via OPC connection Identify mechatronics tool bars and navigators You will use multiple tool bars, navigators, groups and commands in this course Use this topic to identify them properly and navigate through course instructions Main tool bar The main tool bar refers to the tabs along the top of the NX window Tabs include:         File Home Modeling Assemblies Curve Analysis View Render In this course, you will be directed to main tool bar functions with the following direction:  Choose File→All Applications→Machine Tool Builder Mechatronics tool bar The Mechatronics tool bar is used to divide commands into groups based on their function Mechatronics groups include:        Systems Engineering Use this group to apply requirements, functions, logical models, and dependencies Mechanical Concept Use this group to add or change model features Simulate Use this group to start and control simulations in mechatronics Mechanical Use this group to apply physics features to models Electrical Use this group to apply electrical features that are active during simulations Automation Use this group to control kinematics and physical properties during simulations Design Collaboration Use this group to interact with external programs by importing and exporting data In this course, you will be directed through groups with the following direction:  Choose Home tab→Design Collaboration group→Replace Component Resource bar The Resource bar is the set of tabs located along the edge of the NX window The tabs displayed on the bar vary depending on your specific configuration and active application The resource bar is divided into four main categories: Navigators HD3D Tools Integrated Browser Window (Windows only) Palettes Tabs commonly used in mechatronics include:  System Navigator Use the System Navigator tab to view the requirements, functional and logical models of a product You can use the System Navigator to attach dependent objects that help navigate across the requirements, functional, logical models and the physical representations such as mechanical components, electrical devices, operations or physics objects Expanded functionality is available when using NX in Teamcenter Integration mode  Physics Navigator Use the Physics Navigator tab to display the physical and logical properties of mechanical elements  Runtime Expression Use the Runtime Expression tab to view expressions that you created to apply equations, ratios and relationships between physics properties  Assembly Navigator Use the Assembly Navigator tab to view components used in the assembly and access assemblies commands  Sequence Editor You can create time based and event based operations After you create operations, use the Sequence Editor to view and create a sequence of operations, similar to sequential function logic On the Resource Bar, choose Sequence Navigator Activity: Run a simulation and monitor values Estimated time to complete: 5-10 minutes In this activity, you will use simulations to apply physics properties and motion to mechatronics models You can monitor motion and values that are introduced using actuators, mechatronics signals, and external signals You will use runtime simulation and runtime inspector to run simulations and monitor values You will apply basic simulation commands including:     Play Pause Stop Restart Run a simulation You will use simulation commands to simulate a robotic cell in Mechatronics Concept Designer Open mcd01_training_plant_e Choose File tab→All Applications→Mechatronics Concept Designer Choose Home tab→Simulate group→Play When the simulation is active, physics and motion characteristics that have been assigned become active If the simulation is active, many Mechatronics Concept Designer commands are unavailable Choose Home tab→Simulate group→Stop Notice that when the simulation is stopped the geometry returns to the positioning established in the model Play the simulation and while it is running, in the Simulate group, select Restart The simulation returns to the positioning established in the model and immediately begins moving again In the Simulate group, select Pause If the simulation is paused, it is still considered to be running Stop the simulation to access all of the mechatronics commands Stop the simulation Monitor simulation values Use the runtime inspector to monitor the values of physics objects Choose Home tab→Simulate group→Play In the Simulate group, click Runtime Inspector In the Physics Navigator, in the Sensors and Actuators group, select arm motor The runtime inspector dialog box lists the characteristics of the selected object Verify the motor speed in the Runtime Inspector dialog box To pause the simulation and view the current values, in the Simulate group, click Pause Click Stop Set simulation preferences Use the runtime inspector to monitor the values of physics objects Choose File tab→All Preferences→Mechatronics Concept Designer Click the Physics Engine tab In the Runtime Parameters group, set the following: o Collision Precision = o Step Time = 0.1 Click OK Run the simulation to see the results and then stop the simulation Adjusting the preference values for the simulation can have either positive or negative results In this activity, the adjustments are detrimental Use these parameters to optimize a simulation that does not run smoothly The step time is a refresh rate for updating the model The collision precision value adjusts the accuracy of the collision shapes Return the values to the default values: o Collision Precision = 0.0039 inches o Step Time = 0.001 Run the simulation to see the results and then stop the simulation Close the file without saving You completed the activity Import NC code and run a simulation You will use a runtime NC to import an NC program You will use the common simulation engine (CSE) located in nx to map MTB axes to MCD Position Control actuators Create a position control actuator for each of the joints created for machine axes movement You must create an operation with the runtime NC as the physics object to be able to view the NC program simulation Using an operations to this allows you to simulate the NC program in the same environment as the PLC programming If the NC program has a tool change, you will have to create a blank operation before the runtime NC is created You should create the same number of blank operations as the number of tool change events located in the NC program Once the program triggers the tool change operation you must create all other operations which will physically change the tool You must create another operation with the runtime NC as the physics object to resume the NC simulation Create a Runtime NC You will use a runtime NC to import a NC program You will also create operations which are needed for tool changes and starting the NC simulation In the previous steps, you converted the MCD kinematic objects located in the basic physics and joints and constraints folders into machine kinematics in MTB Axes offsets and directions were also defined in MTB Open mcd01_runtime_nc_activity1 On the Resource Bar, choose Physics Navigator Position controls have been created for the machine axes joints (XPositionControl, YPosition Control, ZPosition Control) Other machine movement actuators have been created such as the ArmPositionControl which slides the tool magazine arm out so that a tool can be attached to the machine spindle, and the MagazinePositionControl which rotates the tool magazine so different tools can be loaded To create a blank operation, the following: o o Choose Home tab→Automation group→Operation In the Name box, type tool_change_tool2 and click OK In the Sequence Editor , place it between the DisengageToolMagazine1 and MoveArm1 operations To create a sequence link from tool_change_tool2 to MoveArm1 the following: o Drag the tool_change_tool2 to MoveArm1 Choose Home tab→Automation group→Runtime NC In the NC group, click Load NC File Select mcd01_activity_program.txt Note You may need to change the files of type setting to All Files to locate the file In the Mode subgroup, click Edit NC This is added to move the machine back to the starting position You will notice that this is the initial axis values set during the previous activity This is done before the tool change is started because once the tool has been changed to tool and the program is resumed, the machine will act as if it were in the same position it was in before the program was stopped for the tool change 10 In the NC program box, the following: o NC program  Between lines G00 Z5 and T2 M6, press Enter to create a blank line  In the blank line, type G00 X50 Y325.425 Z556.275  At the end of the program, type G00 X50 Y325.425 Z556.275 11 In the Mode group, click Run NC 12 Click Run Common Simulation Engine In the MCD Connection table notice how the MTB axes in the Axis/Machine Event column have been automatically mapped to the corresponding MCD position controls 13 In the MCD Connection group, in the table, click the ToolChange[Tool(0)>Tool(2)] row Note You may have to expand the dialog box to see the MCD Connection group 14 In the Sequence Editor, click tool_change_tool2 The necessary conditions are set for the tool_change_tool2 operation to trigger the start of the tool change operations 15 Select the Create Container check box 16 In the Name group, type RuntimeNCactivity 17 Click OK Simulate the NC program To create a new operation, the following: Choose Home tab→Automation group→Operation In the Operation dialog box, set the following:  Physics Navigator  Select RuntimeNCActivity : Runtime NC  Runtime Parameter group  run = run row  Value = true  Name group  Name box = start program  Click OK In the Sequence Editor, drag start program in between DisengageToolMagazine1 and tool_change_tool2 Create sequence links from: o DisengageToolMagazine1 to start program o start program to tool_change_tool2 To create an operation with the RuntimeNCActivity as the physics object, the following:  Choose Home tab→Automation group→Operation In the Operation dialog box, set the following:  Physics Navigator  Select RuntimeNCActivity : Runtime NC  Runtime Parameters group  pause =  Name group  Name = ResumeProgramTool2  Click OK In the Sequence Editor, create a sequence link from DisengageToolMagazine2 to ResumeProgramTool2 DisengageToolMagazine2 is the last operation needed to mount tool You link the ResumeProgramTool2 operation so the NC program will restart after the tool changing operations are finished Run the simulation while viewing the Sequence Navigator to see the results then stop the simulation The NC program runs in conjunction with the operations The Runtime NC Simulation dialog box displays the NC code and highlights the active step Close the part without saving You completed the activity Activity: Create signals within mechatronics Estimated time to complete: 10-15 minutes In this activity, you will use a collision sensor, runtime parameters and runtime expressions to signal an event You will use these signals to create a part counter within mechatronics Create runtime parameters for use as formula variables You will create runtime parameters that will be used as variables in a part counter Open mcd01_training_plant_g Run the simulation to see the results and then stop the simulation The model has already been given rigid bodies, collision bodies, joints, actuators, an object source and an object sink The arm motor speed has been set to zero to simulate a failed motor Choose Home tab→Mechanical group→Runtime Parameters In the Parameter Attributes group, create a variable for the part counter To this, set the following: o Name = count o Type = int o Value = o Click Accept In the Parameter Attributes group, create a signal that will be compared to a part sensor trigger To this, set the following: o Name = high_comparision o Type = bool o Value = true o Click Accept In the Name group, type counter signals Click OK In the Physics Navigator, under the Signals group, both of the runtime parameters are stored in counter signals Use a runtime parameter with associated geometry to create a runtime expression Use the runtime parameters to create a runtime expression You will need to add a new parameter that is linked to a collision sensor The new signal will indicate when a part should be counted You will use an If Else statement for a runtime expression to increment the count parameter when appropriate Choose Home tab→Mechanical group→Runtime Expression In the Physics Navigator, under the Signals group, select counter signals Set the following: o Parameter to Assign group  Property = count o Input Parameter group  Select Object = rectangle sink : Collision Sensor  Parameter Name = triggered Click Add Parameter Under Alias, double-click rectangle_sink and rename it part_sense Note The alias is the name of the variable used in the expression To make the runtime parameters from the previous steps available for use in this expression, the following: In the Input Parameter group, highlight Select Object and then, in the Physics Navigator, select counter signals : Runtime Parameters In the Parameter Name box, select high_comparision Click Add Parameter Under Alias, double-click counter_signals and rename it compare To set the Input Parameter, in the Physics Navigator, select counter signals : Runtime Parameters In the Parameter Name box, select count Click Add Parameter Under Alias, double-click counter_signals and rename it count In the Expression group, set the following: o Expression Name = if_else_statement_1 o Expression = if (part_sense=compare) (count+1) else count Click OK The runtime expression can be found by clicking Runtime Expression on the Resource Bar To verify the counter is functioning, the following: o Run the simulation o With the simulation running, in the Physics Navigator, under Signals, double-click counter signals to open the Runtime Inspector The runtime parameters stored in counter signals are displayed and count increments by one with each part that contacts the collision sensor Stop the simulation Close the part without saving You completed the activity Establish MCD signal for external use Use the Signal Adapter command to encapsulate runtime formulas and signals One signal adapter can contain multiple signals and runtime formulas After creating a signal adapter that includes a signal, a signal object is created in the Physics Navigator The signal can then be connected to an external signal, such as an OPC server signal Use shared memory for external signaling Use the SHM Signal Mapping (shared memory signal mapping) command to map bidirectional signals between SIMIT signals and mechatronics signals This lets you run cosimulations using local shared memory to exchange data between mechatronics and the SIMIT application during runtime This enables you to combine the physics simulation and 3D visualization in mechatronics with block- oriented 2D representations of signal flows, drive systems and an interactive human machine interface in the SIMIT application Note You must set up the SIMIT environment and a mechatronics Signal Adapter before you can map your signals A typical workflow for implementing SHM signal mapping includes: Action Create signals in MCD Prepare SIMIT SHM signals Create SHM signal mapping Run simulation Description Tool   Add new signals Assign signals to physics object parameters with formulas MCD signal adapter   Create signals in SHM gateway Create logical design for signals SIMIT SHM  Assign MCD signals to external signals Assign external signals to MCD signals    Run simulation in real time mode Do co-simulation MCD SHM signal mapping SIMIT MCD Activity: Use a signal adapter for external communication Estimated time to complete: 10-15 minutes In this activity, you will use a signal adapter with runtime parameters to communicate with SIMIT In this example, you will use SHM signal mapping to establish communication between mechatronics and SIMIT Note You must have the SIMIT software installed to complete this activity Create an output signal Open mcd01_training_plant_ext_signal_a Run the simulation to see the results and then stop the simulation The model uses an object sink and an object source to simulate production No operations, runtime expressions, or runtime parameters are used Choose Home tab→Electrical group→Signal Adapter In this step you will create a runtime parameter in the signal adapter dialog box The runtime parameter will be mapped to a mechatronics signal so it can be assigned as an input or output In the graphics window , select Position Control : base motor The Parameter Name default is speed for actuators Create an input signal In the Physics Navigator, under Sensors and Actuators, double-click mcd_signal_adapter In the graphics window, select Speed Control : arm motor Click Add Parameter Rename the parameter mcd_arm_speed In the Signals group, the following: o o o o o Click Add Rename the signal signal_arm_speed Data Type =double Input/Output =Input Measure =Angular Velocity In the Parameters group, in the Assign to column, select the mcd_arm_speed check box In the Formulas group, in the mcd_arm_speed row, Formula column, type signal_arm_speed Click OK In the Physics Navigator, under Signals, signal_arm_speed is added Run the simulation to see the results and then stop the simulation The base motor moves but the arm motor speed value is still zero 10 Close the part without saving Click Add Parameter A runtime parameter has been added to the parameter table and the parameter properties are displayed In the Alias column, click parameter_1 and type mcd_base_speed to rename the parameter In the Signals group, click Add A new signal and properties are displayed in the Signals group The signal is not linked to any objects To set up the signal to output a speed value, the following: o In the Name column, click Signal_1 and type signal_base_speed o In the Data Type column, select double o In the Measure column, select Angular Velocity In the Signals group, in the Assign to column, select the signal_base_speed check box signal_base_speed has been added to the Formulas group 10 In the Formulas group, in the Formula column, type mcd_base_speed 11 In the Name group, type mcd signal adapter and click OK In the Physics Navigator, under Sensors and Actuators, mcd signal adapter has been added and signal_base_speed is listed under Signals 12 Run the simulation and use the Runtime Inspector to view the signal_base_speed and then stop the simulation The output signal shows the angular velocity of the base motor Establish SIMIT signals In this example, the SIMIT environment is set up You will create an input and output signal to display or control angular velocity values in MCD Open SIMIT In the SIMIT dialog box, click New Project In the Project Name box, type shm1 Click Create On the Project Navigation panel, in the Project tab, double-click New Gateway In the Selection dialog box, click SHM, and then click OK Press Enter to name the new gateway SHM In the SHM gateway window, in the Inputs group, set the following: o Symbol Name = simit arm signal o Address = MD64 o Data Type = Real In the SHM gateway window, in the Outputs group, set the following: o Symbol Name = simit base signal o Address = MD42 o Data Type = Real 10 In the SHM Properties pane, select the Signal description in header check box Note You must select this check box to access the memory locations in MCD 11 On the Project Navigation panel, in the Project tab, double-click New Diagram 12 In the Diagram name box, type shm diagram, and then press Enter 13 On the main tool bar, click Save Note You must save the gateway before the signals will appear for use in the diagrams 14 On the Components panel, click the Signals tab 15 Drag the simit arm signal into the empty diagram window 16 Drag the simit base signal into the diagram window 17 On the main tool bar, click Save 18 On the main tool bar, click Play Map shared memory signals In this example, the SIMIT environment has already been set up To integrate with the SIMIT environment, you will use SHM signal mapping to transmit and receive angular velocity values You will use the base motor output signal to verify the value in SIMIT You will set the arm motor input value in SIMIT to control the mechatronics value Open mechatronics the mechatronics model with an existing signal adapter Choose Home tab→Automation group→SHM Signal Mapping In the SHM Configuration group, set the following: o Set SHM Name to SIMITSHM and then press Enter o Update Time = 0.1 Note The SHM name is SIMIT(gateway name) In the Source to Target Mapping group, under Assign to SHM Signal, select the Assign check box This sets the SHM signal that you are going to map a mechatronics signal to Click the Object cell next to the Assign check box and from the list, select mcd signal adapter In the Signal Name column, select signal_base_speed This sets the mechatronics signal that you are mapping the SHM signal to In the Assign to MCD Signal table, click the Assign check box Next to the Assign check box, click the SHM-Signal cell, from the list, select simit arm signal Click OK 10 In the Simulate group, click Play With both SIMIT and mechatronics simulations running, the shm diagram displays the base motor angular velocity 11 In the SIMIT shm diagram window, In the simit arm signal box, type 3, and then press Enter The SIMIT angular velocity is output to mechatronics and the arm motor activates You completed the activity ... Application Mechatronics Concept Designer Mechatronics Concept Design workflow The following represents a typical machine design workflow using Mechatronics Concept Designer: Define and manage design. .. commands to simulate a robotic cell in Mechatronics Concept Designer Open mcd01_training_plant_e Choose File tab→All Applications Mechatronics Concept Designer Choose Home tab→Simulate group→Play...library components are based on already proven concepts, it improves the design quality and speeds up development Mechatronics Concept Designer supports the definition of functional units