Purpose
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Use the Resource Builder workbench to easily build a robot rail.
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The geometry of the robot rail will be imported from an external file to build the rail resource. To be able to use the rail in a workcell, it will be completed with the appropriate information.
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Steps
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1
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Preparation
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1.1
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Switch to the Resource Builder workbench.
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1.2
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Create a new, empty document.
If another document is already open in the running session, this step has to be executed. If not, this step can be skipped
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2
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Define the rail resource
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2.1
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Import the geometry from the file Rail.stp, which is located on the installation drive of this manual.
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2.2
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Create a new rail type resource for this imported rail.
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2.3
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Create the kinematic skeleton of the rail. The rail will have a (synchronous) linear movement.
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3
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Build the rail resource shape
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3.1
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Attach the rail part of the imported geometry to the base, fixed part, of the rail resource.
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3.2
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Attach the movable pedestal part of the rail geometry to the linear joint of the rail resource.
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4
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Create the rail adapter
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The pedestal adapter is used later on to connect a robot to the rail. It secures that the robot will move along with the pedestal during simulation.
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4.1
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Define a parent adapter on the pedestal.
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5
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Define the rail properties
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5.1
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Give an appropriate name to the rail resource. And define the properties of the adapters.
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5.2
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Define the kinematic limits of the rail.
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5.3
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Define the home positions of the rail.
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6.1
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Save the robot rail.
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Be sure to save your data frequently.
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