Carl,

Well…………I will try to help you out the best I can since it will take a little time to explain and it seems simple but there are a lot of items to look for and go through. Looking at the link you have added to the DELMIA Help Docs the commands are all there under Device Task Definition but how to use them is where you'll need to learn.

If anyone can also help out Carl or make other suggestions than what I've added below please chime in.

1. Hopefully the kinematics you have placed on the engine transfer robot has Inverse Kinematics (IK). This will make the job a lot easier. I will go on with an explanation based on if you have IK on the robot.

2. Select Jog a Device command and select the engine transfer robot, does the green user compass jump to the tool center point (TCP) you have assigned to the end effector? If it does then try to move the robot using this user compass. If not then you have to assign the TCP from the robot mounting plate to the end effector where you want it to be. You can reassign using the Set Tool command and select the tag on the end effector where you want it to be (this would be I think the easiest way of redoing the TCP).

3. If you have IK on your robot and the TCP on the end effector then I would suggest going to the Teach command. Select the command and then your engine transfer robot. You can maneuver the robot in three ways: the user compass, the device manipulation arrows on the joints of the robot, and the slide bars when selecting Jog radio button to access the jog panel.

4. I would start off by creating 4 tags with your robot and then fill in the path to and from the engine after you have created your 4 intial tags. These tags using your Teach command would be Home, Pick, Drop, Return to Home. This should at least get you started in creating path(s).

5. Using the Teach command place your robot in a position that will be away from any other moving part/robot and create a tag there, just select Insert and it can be a via tag if the question does come up (it can be changed later on if you want). This will be your Home position (via1), if your robot needs to go back to its original position this is the tag we want to use initially.

6. Still using Teach command place the robot and its end effector over the engine where you want to pick it up. Using the User Compass move the robot using this. Now this is where you'll have to know the grab position on the engine using your end effector. Once you have placed the end effector on the engine select Insert and create a tag point where you want to pick up the engine.

7. Now there is a command called ToolPick Action. This is what you will use to connect the end effector to the engine. It will ask you to pick an option if its Before or After predecessor/successor http://ol.cadfamily.com/delmia…..MIAfrs.htm it will be up to you to select the correct option but this should be after (successor) for this.

8. It will ask you what is the parent and what is the child, in this case the end effector is the parent and the engine is the child, be careful you might have to select this from the PPR Tree especially the parent which would be the end effector because it will sometimes not work if you don't select the catproduct as the parent.

9. Now once you have attached the engine to the end effector go back to Teach command and then manuever the robot with the end effector and engine now to the area you want to drop it off. Select Insert and create a tag here.

10. Select ToolDrop Action command and select to drop off the engine after(successor).

11. Manuever the robot and end effector after dropping off the engine back to the Home position (or near it) and select Insert.

This is a quick look at how to create a 4 tag path and pick and drop action to do what you need to do. Unfortunately I don't have a tutorial for you to show you how to do this but I hope this at least gets you going. It will take sometime to learn but do it everyday if you can and it will become easier.

DELMIA gives you the ability to also open/close clamps, do reach studies, collision analysis, and much more.

I'll try to look in from time to time to see how you are doing.

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