DELMIA Machining offers CAM-Programmers the possibility to use robots instead of CNC machines for machining processes without having to adapt to a different software. However there are differences in the way robots and CNC machines are operated and this is reflected in DELMIA Machining as well.
The scenario covered in this tutorial shows how to program a robot with Fanuc controller (in fixed TCP mode) using DELMIA Machining.
 

Introduction

This scenario was originally concieved for the Innoteq trade show 2025. It combines Delmia Machining & Robotics to implement a fully automated production cell. The scope of this tutorial is limited to the Deburring & Polishing Cell. 

Workflow
 

Info

The complete project/scenario is contained in one „Manufacturing Cell“ (top node), that contains two additional „Manufacturing Cells“ that function independently. This setup allows to split the work on the three „Manufacturing Cells“ between different people, accelerating the process. 
To make sure the positioning of the different objects within the cells is consistent a common part (Layout Part) is shared between the cells. This part contains coordinate systems defining the positions of all objects present in the cells. It´s first defined when planning the layout of the entire cell (top node) and is then reused when building the cell for Deburring & Polishing.
 

Prepare the Manufacturing Cell

With the help of the „Layout Part“ the relevant components can be placed in the same position as in the „Main Cell“.
For this scenario it was the spindles for deburring & polishing and the machine bed for collision checking. This is necessary since the spindles are positioned close to the machine. 
 

The  tools are mounted on the  spindles that were added in the previous step. Since the spindles are stationary the tools have to be defined as fixed.  The tool representations were already added in the previous step. This is only to make sure the tools are always visible, since no toolchange takes place during the process. 
 

Programming

The „Machining Axis Systems“ which define the object profiles have to be positioned at the absolute origin of the manufacturing cell. The object profiles are automatically created, based on the machining axis systems, when generating the output.  
 

The central section of the spoiler is the area where the helmet is attached to the stock. In order to limit the machining operation to this area an additional surface covering this areas is created.  
 

In addition to the machining operation (MO) there´s also the need to create machine instructions. Those are necessary to make sure the robot movements happen in a predictable manner. This is achieved by controlling the start and end position of the robot movement. PP comments are used to turn the spindles on and off.
 

Output

Set the controller type to robot controller and select the translator that corresponds to the controller on the robot. After generating the output check the toolframe and the userframe in the output. For Fanuc controllers they have to have the same index for fixed TCP applications.

Please check the Powerpoint for additional information. 

Powerpoint + 3DXML