Creating a Digital Twin using Emulate3D
Summary
TLDRIn this tutorial, Henry Gillan, a mechatronic specialist with ES&, demonstrates how to create a digital twin using Rockwell Automation's Emulate 3D software. The process involves importing a 3D model, utilizing the CAD as the model toolbar to create kinematic joints for linear motion, setting operational limits, and linking the model to PLC program tags for testing. This digital twin allows for virtual machine interaction and commissioning before physical construction.
Takeaways
- 😀 Henry Gillan, a mechatronic specialist with ES&, demonstrates creating a digital twin in Rockwell Automation's Emulate 3D using a CAD model.
- 🛠️ Emulate 3D is a software that enables the creation of a virtual working version of an automated machine for testing machine programs before physical construction.
- 📁 The first step is to import a 3D machine model into the e3D virtual environment, as shown with a simple two-axis gantry.
- 🔧 The CAD as the model toolbar is used to create joints that allow the virtual machine to interact with PLC program tags.
- 🔄 Kinematic joints are essential for defining the movement of the machine components; the script focuses on the kinematic prismatic joint for linear movement.
- 🔍 Selection of the correct visual component is crucial for applying physics joints within the nested model structure of the gantry.
- 📐 The direction of travel for the prismatic joint is defined using a translation wizard, associating with other parts of the machine.
- 🚫 Limits can be imposed on the model to constrain movement within a functional range, preventing operation outside normal limits.
- 🔄 Inverse kinematic allows for direct interaction with the model to test the defined behavior during simulation.
- 🔄 The Z beam joint must be mechanically tied to the gantry carriage, ensuring it moves along with the carriage.
- 🔄 Forward kinematic and distance mode settings are configured to allow PLC to write values and control the model.
- 🔌 The IO dropdown is used to expose the distance tag for connection with the PLC program, facilitating the integration of the digital twin with PLC for testing.
Q & A
What is the purpose of creating a digital twin in Rockwell Automation's Emulate 3D?
-The purpose of creating a digital twin in Emulate 3D is to create a virtual working version of an automated machine, allowing users to connect to and test their machine program before the physical machine is built.
What is the role of the 'CAD as the Model' toolbar in the Emulate 3D software?
-The 'CAD as the Model' toolbar in Emulate 3D is used to create joints that will allow the virtual machine to interact with PLC program tags, enabling users to define the behavior and interactions of different components in the machine model.
How does the kinematic joint feature in Emulate 3D work?
-The kinematic joint feature allows users to define the direction of travel and movement for different parts of the machine model. It is used to create realistic interactions between components, such as linear up and down movements for a gantry system.
What is the significance of inverse kinematic in the context of the Emulate 3D software?
-Inverse kinematic in Emulate 3D allows users to interact directly with the model, testing the defined behavior and movements. It enables the model to respond to user inputs, simulating the machine's behavior under different conditions.
How can users set operational limits for the model in Emulate 3D?
-Users can set operational limits by entering an upper and lower limit for the model's movement and then enabling these limits. This constrains the model to move only within the defined functional range, preventing it from moving beyond normal operating limits.
What is the process for setting up a joint between the Z beam and the gantry carriage in the Emulate 3D software?
-To set up a joint between the Z beam and the gantry carriage, users need to select the Z beam, define the joint as a kinematic prismatic joint, set the direction of travel, and then specify the gantry carriage as the base in the joint configuration menu. This ensures that the Z beam moves in conjunction with the gantry carriage.
How can users reset the model to its initial state in Emulate 3D?
-Users can reset the model to its initial state by clicking the reset button, which stops the model simulation and resets the initial conditions as defined by the user.
What is the purpose of setting up forward kinematic for the Z beam in Emulate 3D?
-Setting up forward kinematic for the Z beam allows the PLC to write values to the distance field and control the model. This is essential for integrating the digital twin with the PLC program for testing purposes.
How does the 'distance read from PLC' setting in Emulate 3D facilitate the connection between the digital twin and the PLC program?
-The 'distance read from PLC' setting exposes the distance tag in the IO browser, allowing the PLC program to interact with the model by reading and writing values to the distance field, thus facilitating the connection between the digital twin and the PLC program.
What additional resources are available for users who want to learn more about virtual machine commissioning?
-Users interested in learning more about virtual machine commissioning can check out the digital twin commissioning video provided by the same source, which offers further steps and insights into the process.
Outlines
🤖 Creating a Digital Twin with Emulate 3D
Henry Gillan, a mechatronics specialist, introduces the process of creating a digital twin in Rockwell Automation's Emulate 3D software. The video demonstrates how to use CAD as a model to build a virtual version of an automated machine, allowing for testing and connection to a machine program before physical construction. The tutorial covers importing a 3D model, utilizing the CAD as the model toolbar, and creating kinematic joints for machine interaction with PLC program tags. It also explains how to apply physics joints, set operational limits, and ensure components like the Z beam and gantry carriage move correctly and are constrained within functional ranges.
🔄 Configuring Joints for PLC Interaction
This paragraph delves into the configuration of kinematic joints to interact with a PLC program. It details the setup of forward kinematics for the Z beam and Gantry Carriage, enabling the PLC to control the model by writing values to the distance field. The process includes selecting appropriate IO options to expose distance tags in the IO browser, which is crucial for integrating with the PLC program tags. The video concludes with a prompt to view a digital twin commissioning tutorial for further steps in virtual machine commissioning.
Mindmap
Keywords
💡Digital Twin
💡Rockwell Automation Emulate 3D
💡CAD Model
💡Kinematic Joint
💡Prismatic Joint
💡Inverse Kinematic
💡Forward Kinematic
💡PLC Program Tags
💡Gantry System
💡Simulation
Highlights
Introduction to Henry Gillan, a mechatronic specialist with ES&, who will demonstrate creating a digital twin in Rockwell Automation's Emulate 3D using CAD as the model.
Explanation of Emulate 3D as a software for creating a virtual working version of an automated machine to test machine programs before physical construction.
Demonstration of using the CAD as the model toolbar within Emulate 3D to create joints for virtual machine interaction with PLC program tags.
Step-by-step guide on importing a 3D machine model into E3D and accessing the CAD as the model toolbar.
Description of the physics options available in Emulate 3D for different component interactions, focusing on the kinematic joint for the two-axis linear gantry system.
Instructions on selecting the correct visual for modifying within the nested model structure of the gantry.
Tutorial on applying a kinematic prismatic joint for linear movement of the Z beam, including joint configuration and direction selection.
How to define the direction of travel for the prismatic joint using the translation wizard and model interaction.
Setting up operational limits for the model to constrain movement within a functional range.
Demonstration of model simulation with direct interaction to observe behavior and the imposition of movement limits.
Process of defining the X-axis joint for the gantry carriage using the prismatic joint and setting travel direction.
Explanation of setting up limits for the gantry carriage and the necessity of ensuring the Z beam follows the carriage movement.
Mechanical tying of the Z beam to the gantry carriage for synchronized movement during model simulation.
Resetting the model to its initial state using the reset button for reevaluation or correction of settings.
Final step of setting up new joints for interaction with a PLC program, including forward kinematic and distance mode setup.
Exposing the distance tag in the IO browser for PLC program tag integration and testing.
Completion of the digital twin setup for PLC program tag testing and a reference to the digital twin commissioning video for further virtual machine commissioning steps.
Conclusion of the tutorial with thanks for watching and a sign-off with music.
Transcripts
hi I'm Henry Gillan The mechatronic
Specialist with es& in this video I'm
going to show you how to create a
digital twin and Rockwell automations
emulate 3D using the cad as the model
[Music]
toolbar emulate 3D is a software that
can be used to create a virtual working
version of an automated machine what
this means is that you can use this tool
tool to connect to and test your machine
program before your machine is
physically built in this demonstration
I'm going to show you how to use the cad
as the model toolbar within emulate 3D
to create joints that will allow your
virtual machine to interact with your
PLC program tags let's get going first
you'll want to import your 3D machine
model into
e3d here you can see that I've already
imported a simple two AIS gantry
into the e3d virtual
environment once you've done this you
will want to click on the cad as the
model toolbar at the top of the software
window there's a whole Suite of physics
options available for different types of
component
interactions as stated earlier here we
have a simple two AIS linear Gantry
system so we're going to focus on the
kinematic joint when you need to apply a
physics joint you will need to make sure
you've selected the correct visual you
would like to
modify to do this you can select
hierarchy from the pane on the left side
of the screen and then select the visual
from the list this Gantry is part of a
nested model structure so you can expand
it out and hover over the different
components as you do you will see that
each piece is highlighted in the visual
so you can select the correct part we
will start with the Z beam once you
select the part expand the kinematic
joints menu and select the correct joint
since we are creating a linear up and
down Movement we will select kinematic
Prismatic joint you will see the joint
configuration menu pop up in the aspect
viewer window on the right side of the
screen click the Home tab at the top and
make sure you're in select mode when
you're in select mode you can click the
little box within the Prismatic Joint
menu this wizard will allow you to
define the direction of tra
of the Prismatic joint being created
once you've clicked on the translation
wizard box hover your mouse over the
model and select the direction of travel
as it Associates with the other parts of
the machine in the Prismatic Joint menu
under distance mode select inverse
kinematic this will allow you to
interact directly with the model and
test the defined Behavior now go back
into navigate mode and start the model
simulation here you can interact with
the model directly and see how it
behaves you can see that it moves up and
down correctly however I'm able to drag
it past the normal operating limits you
can impose limits on the model that will
constrain it to a functional range we
will enter an upper limit and a lower
limit and then enable the limits now you
can see that the model will only move
within the defined space now that we've
set up our Z beam let's define the
x-axis joint this time we will select
gantry carriage and again pick Prismatic
joint from the kinematic joints menu
again making sure you are in select mode
click the defined translation box in the
kinematic joint configuration menu for
the Gantry Carriage then select on the
model the direction and location of
travel put the distance mode into
inverse kinematic then go back into
navigate mode and start the model
simulation you can see the Gantry
Carriage oper Ates however we need to
set up limits and if you notice the Z
beam doesn't follow along with the
carriage like it should let's set our
limits first then we can fix the Z beam
again enter an upper limit and a lower
limmit and then enable the limits a
quick aside if at any point you want to
reset the model back to its initial
State you can simply click the reset
button and it will stop model simulation
and reset initial conditions as defined
we want the Z beam to always be
mechanically tied to the Gantry Carriage
so if we go back to the Z beam joint
configuration menu we will see that
there's no defined base so as the base
we will simply type in Gantry carriage
and select the visual from the dropdown
now if you run the model you will see
that the joints operate independently
however the Z beam is always tied to the
Gantry Carriage as it moves along the
last step is to set up the new joints so
that they can interact with a PLC
program back in the Prismatic Joint menu
for the Z beam select forward kinematic
for the distance mode this will allow
the PLC to write values to the distance
field and control the model second in
the io dropdown select distance red from
PLC this will expose the distance tag
and place it in the io browser for when
it's time to tie in the PLC program tag
you can then perform the same action for
the Gantry Carriage that's it now you're
ready to tie your digital twin to PLC
program tags for
testing be sure to check out our digital
twin commissioning video for the next
steps in virtual machine commissioning
thanks for watching
[Music]
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