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Virtual Universe Pro V2 User manual

1. 103 Generate standalone 3D emulators players 105 ODA ES ee 106 Onmeda DIAO EE Te 107 Detailed properties of a 3D emulator ns 108 PrOperties ofthe UNIV GSC ia cece ets anne ee este den 109 Detailed properties of the Universe VV 109 Properties Of the World sise 111 D TAIL properes Of TMG VV OF ecrane E 111 Functionalities at the World level ss 114 Properties OMG NS ae a ne 118 Bre cell ero elge ele neS or OON i nee ene ene ee ee eee eee 118 Functionalities at the Light level 120 PROD STINGS Ol Camera eo E E A E E EAE AES 121 Detailed properties of Cameras 121 Functionalities at the Camera level ccccccccccseccceseeceeeetee AE EESAC EE EE 123 PODEC OLOPE reira a E EE 124 User Manual VIRTUAL UNIVERSE PRO V2 Detailed properties Of Sprites is 124 Functionalities at the Sprite level ss 128 FO SFIS S OPC ie VIOUS Ra EE EN EEA 133 Detailed properties Of Behaviors cccceeccceeccceeeceeeecaeeeseeeseeeseeeeseeeesaeeesaeeesaeeeeas 133 ID ES OBS AMIO RS de dde set date aa en 135 Functionalities at the Behavior IVe 154 ROC FEISS OMIS a ea ae ee eee eee ea ne 155 Detailed properties of a HMI 156 Creation or modification OLA a a au 157 FON STUNG SOCOM OGY S a do dde 163 FOCI ea VMN FUNCION esc cates ee ee EE 163 Detailed properties Of a controller 165 Programming a controller in 165 COOL RES a 168 AOO IAA et ete
2. The Process search string parameter allow to identify a process The first process found with an exe file name associated containing the search string will be used Warning this string is case sensitive The Windows Task manager tool can be used to list the running processes The Exchange area signature parameter allows to localize in the process memory the beginning of an exchange area which will be used to read and write variables stats to and from Virtual Universe Pro This parameter is defined as two hex digits per character By example 52494941 will define a 4 characters string RHA In the PLC emulator the signature must be written at the beginning of the required exchange area zone The easiest way is usually to do this by adding some code to the project which is running inside the PLC emulator User Manual VIRTUAL UNIVERSE PRO V2 Page 217 Remarks ijt is recommended to use a signature with at least 4 characters to avoid a false localization it is recommended to make tests to obtain a successful work The links defined in Virtual Universe Pro use a position from the beginning of the exchange area and an access type The position is arbitrary specified in number of 16 bits words The access type specifies if the read or write will be processed to a bit of the word to the whole word 16 bits integer or to a group of 2 4 or 8 consecutive words used as 32 bits integer or 32 or 64 bits float in this case the n
3. Editing functions To delete an item select it left click and then open the context menu right click on the item and select Delete i Loci P Delete Del 0 1 l Remark the last coil item of a network can be deleted only if there is no more contact item User Manual VIRTUAL UNIVERSE PRO V2 Page 170 Delete insert copy or paste a network or multiple networks select the networks left click on the left margin and then open the context menu right click on the left margin p phase BLINKSOOMS okto start 0 phase start button e 0 phase 1 re Conveyor 2 Rotates rollers sens 1 B a I rai BLINKSOOMS switch on off o H light phase Conveyor Switch Rollers brake IF Insert before Ins Delete Ins F Paste before Ctrl y Conveyor Switch Rotates rollers sens 1 Paste after b ATF Cop Ctrl c Cut Ctrl X A F Conveyor Switch Rotates rollers sens 2 cF 4 A q F ta phase big box Forward sensor 4 phase 5 i 3 phase big box Backward sensor Program zone dick on left margin to select networks left button or to insert delete networks righ User Manual VIRTUAL UNIVERSE PRO V2 Page 171 To undo or redo the latest changes use the Edit menu in the main window Controller E x 41 lt 2 phase 3 IF TE a Conveyor Switch Rollers brake phase big box Conveyor Switch Rotates rollers sens 1 os a phase big box Conveyor Swi
4. Oo i ri eee Fan at the World level in the External Links window listing all the 3D emulator inputs outputs accessible by a right click Belete User Manual VIRTUAL UNIVERSE PRO V2 Page 90 External links O Sorting station Scanner sensor 1 scanner zone scanner sensor Alias 57 variable Data conversion Copy no conversion O Sorting station Scanner sensor 2 scanner zone scanner sensor Alias 57 variable Data conversion Copy no conversion O Sorting station Electrical pusher 1 A33660065 ENVELOPPE RATEAU 1 push Alias 57 variable O Input station Linear belt conveyor 3m 1 conveyor motor linear belt conve S7 variable Data conversion Copy no conversion El Input station Linear belt conveyor 3m 1 conveyor motor linear belt conve Alias S7 variable Data conversion Copy no conversion El Input station Linear belt conveyor 3m 2 conveyor motor linear belt conve Alias 67 variable In the special case of ROCKWELL Allen Bradley PLCs it is possible to import a list of tags used in the PLC program in VIRTUAL UNIVERSE PRO as a L5K file previously exported from the ROCKWELL Allen Bradley programming software E Connection Driver Status Last error Link quality A ROCKWELL IP address per Linear belt conveyor 3m CPU position lt gt Linear belt conveyor 3m Symbol file lt gt Linear belt conveyor 3m Options lt gt Linear roller conveyor 1 8m 2 lt gt Linear roller conveyor 1 8m
5. User Manual VIRTUAL UNIVERSE PRO V2 Page 220 3 Virtual Universe Pro links Conveyor 1 Rotates rollers sens 1 WORDS 0 Conveyor 1 Rotates rollers sens 2 WORDS 1 Conveyor 1 Rollers brake WORD 2 switch on off red light WORD 3 switch on off orange light WORD 4 switch on off green light WORDS 5 Top sensor WORD2 1 Conveyor Switch Rotates rollers sens 1 WORD3 6 Conveyor Switch Rotates rollers sens 2 WORDS 7 Conveyor Switch Rollers brake WORD3 8 Backward sensor WORD2 2 Forward sensor WORD2 3 Conveyor 2 Rotates rollers sens 1 WORDS 9 Conveyor 2 Rotates rollers sens 2 WORDS 10 Conveyor 2 Rollers brake WORDS 11 Conveyor 2 sensor WORD2Z 4 switch on off red light WORDS 13 switch on off orange light WORDS 12 switch on off green light WORDS 14 ajo User Manual VIRTUAL UNIVERSE PRO V2 Page 221
6. Command type 2 Activate 5 Go time from Min to Max Back time from Max to Min Boolean sensor Min position Boolean sensor Max position Set the Min and Max stops either manually or by moving the resource directly in the rendering window these stops will be reached by the resource Set the time to go and to return of the mechanical resource cylinder rod Select the Move command type Move command type time x a One command move to maximum if true or to minimum if fase by example simulate a siingle acting cylinder Two commands move to maximum or minimum depending of the two commands stop move if one of the commands are true or if both are true by example simulate a double acting cylinder Cancel OK User Manual VIRTUAL UNIVERSE PRO V2 Page 64 It is also possible to add Boolean sensors AON sensors all or nothing returning 1 if the mechanical resource is within the detection range of the sensor and 0 otherwise The following example illustrates the creation of a Boolean sensor sensor max located around the maximum position Type Boot Position For position sensor scaling defines value for begining ee and end positions Other ne values are extrapoled Value for begining Value for end Delete this sensor Cancel Behavior move cylinder actuator 3D emulator input Boolean sensor min 3D emulator output Boolean sensor max 3D
7. Mouse wheel zoom f Mouse wheel pressed moving 4 Left mouse button click actions Right mouse button pressed moving mouse rotation Left mouse button click and drag grab object When simulation is off and the setup window is opened an X Y Z axis system is displayed at the center of the world in the 3D rendering window global axis system as well as on the 3D sprite selected with the mouse or in the tree local axis system User Manual VIRTUAL UNIVERSE PRO V2 Page 14 4 Source box 400 214 E Name i H Source box 300 31 Drawing B gt Sorting station H hig gt Linear roller conve a Linear roller conve lt gt Linear roller conve i gt Scanner sensor gt Scanner sensor lt gt Linear belt convey Linear belt convey gt sink i gt sink mb Electrical pusher E Transport line mp Linear belt convey gt gt Curve roller conve ti lt gt Linear roller co a Curve roller conve gt Curve roller conve gt Linear roller conve Y I b 609 3d sprite s 325 behavior s ca Expert mode by objects by properties Example For getting familiar with navigation and interactions in VIRTUAL UNIVERSE PRO a simulation project example is available in the menu File Open Open a sample F gt Linear belt conveyor 3m gt Linear belt conveyor 3m gt Linear belt conveyor 3m 5 gt Linear roller conveyor 1 8m gt Linear roller convey
8. This connection permits an access to the CoDeSys compatible targets The CodeSys Ini item have to be filled with the CoDeSys connection setup as defined in the INI CodeSys files m Virtual Universe Pro stop gateway v3 vu Driver CODESYS Status Stopped Last error Link quality 0 Server PLCs 1 PLCO PLC1 PLC PLC1 CodeSys Ini interfacetype GATEWA reconnectime 15 wWaitime 10 actve 1 lanarte 1 An example of connection with Gateway 2 and Gateway 3 and associated CoDeSys projects can be found in the Virtual Universe Pro examples directory User Manual VIRTUAL UNIVERSE PRO V2 Page 215 The variables of the CoDeSys project which must be read or written by Virtual Universe Pro have to be added in a Symbol Configuration item Yue WISP VIS eu Ve es SSIS IV I Logique API l ments disponibles l ments s lectionn s Droits d acc s G Sn Variables Variables ff Gestionnaire de biblioth que i 11 Types de donn es oy brake 500 Tai arrival_conveyor_brake 500 i 4 S be step2 el arrival_conveyor_forward 500 ty TA eos a arrival_conveyor_green_light 500 iy AR step3bis before_switch_high_sensor BOOL 3 f ore_switch_low_sensor 5001 Ee rae departure_sensor_backward 500 sy Pt TraneO departure_sensor_ forward 500 y rs Transi middle_conveyor_brake 500 Hy a Trans middle_conveyor_forward 00 hey ra Trans3 switch_conveyor_backward 500 hi
9. Virtual Universe Pro V2 User manual C 2013 IRAI User Manual VIRTUAL UNIVERSE PRO V2 Table of Contents BUS ON a een ee ee ce ne rem 5 FNS VNUs RE 6 Hardware requirements ccccccseccceecceececeeeceeeeeeeceeeceueeeeeeseeeseueeseeesseeseueeseeeseeessueeneeeneees 6 DOW ANS INSAlAOMS 2 scrnsnssanesanns ess Ea AEEA ASAE same anne 6 Eec aeee Eee AP A T 7 FRO OISTCE IC SINS e E E E E E O nn 7 Register a security code unlimited player VV 9 ASUS INSTAIAUON RP aut tatiaatn 10 OVERVIEW ee 11 NACTIUS ANG VINO OWS aan E a on 11 NAVIGON ANIM FAC HONG SE na aa a a a ad Dal 14 Main steps for building a 3D emulator VV 16 Composition of a 3D emulator eee ccec ccc eeececeeeeceeeeeceeeeeseeeeeeeeeesseeeesseeeesseeeesaeeeesaaes 17 IPS Or Imn Oed SD CAD OR ee E eee eee ee 21 LISHOR available PEG CONNEC CION omean E 22 Internal working of VIRTUAL UNIVERSE PRO 23 Construction of a 3D emulator serres 25 Set the general properties of a 3D emulator 25 DISDIAV DIODES en a ee ee ee ee en er ee ere 25 Lighting properties cece ceeccsececeeeceeeesececeeeeeeeeseeeseueeeeeeseeseueeeueeseeesueeseeeseeeseeeeseeenass 27 Visualization D OD MI SS ne ae ste cabaret ad sed cree ete sieste 28 NOVICAUIO TD TOD TI S a ee ea 30 SHITE AMOR ODT ONS Eee E EEEE E 32 Import and simplify 3D CAD models 35 impon 9D CAD ROIS ee 35 SMP SD CAD MOOdElS 8 see 43 Design smart 3D resources and syst
10. move values 0 endif if curpos gt 5 then position values 1 else setbehavior pusher home position values 0 endif if curpos lt 1 2 then setbehavior pusher out position values 1 setbehavior pusher out position values 0 endif lt parameter gt if no sprite name is used the parent 3d sprite o lt 3d sprite name gt is the name of the 3d sprite 7 gt Basic Help _ Een CA 7 In this script the modification is to use the new behavior Position X instead of the curpos GetValSprite3d POSX function User Manual VIRTUAL UNIVERSE PRO V2 Page 59 Script editor setbehavior pusher home position values 0 Fons 1200 lLeltaviQtt a USTET QUE j values 1 sas Old script else setbehavior pusher out position values 0 endif goto myloop L User Manual VIRTUAL UNIVERSE PRO V2 Page 60 E cript editor if getbehavior position X currentvalue gt 5 then SELLE T bo Wt an kb Jl te WTP DELS CEA OIL op else setbehavior pusher home position values 0 ALLO etbehaviort pusher OUT POSITION else setbehavior pusher out position values 0 endif New script goto myloop 8 Restart the simulation with this new script and note that the pusher behavior remains unchanged Name Ekectrcal pushe S A33660061 CHASSIS PRINCIPAL 1 H A33660065 ENVELOPPE RATEAU 1 E move 1 000000 1 000000 pusher out positi
11. Then click on the Import button Import from Solidworks Parameters z 3 al User Manual VIRTUAL UNIVERSE PRO V2 Page 38 The import process is then started A bar indicates the import progress The waiting time ranges from several seconds to several minutes depending on the imported project size Importer depuis Solidworks X A33660065 ENVELOPPE RATEAU 1 Utiliser les parametres par d faut Faremetres amer The 3D data is then imported into VIRTUAL UNIVERSE PRO as a tree of 3D objects sprites available in the set up window This tree follows the original structure of the SolidWorks data composed of parts and assemblies With an assembly each part is imported as an independent 3D object sprite in VIRTUAL UNIVERSE PRO The initial colors and textures are also recovered in VIRTUAL UNIVERSE PRO a Univers i c Monde eo Lumi re i Se Cam ra lt gt floor gt Machine gt EE000406 1 ELECTRICAL BOX lt gt EEOO0407 1 CONTROL PANEL lt gt EMCO0280 1 gt EMOO0614 1 lt gt EMOO0615 1 CONVEYOR lt gt DMOO0021 1 lt gt EMOO0616 1 gt EMOO0617 1 lt gt EMOO0618 1 KE lt gt EMOO0619 1 lt gt EMOO0619 2 EMOO0620 1 lt gt EMOO0621 1 lt gt EMOO0622 1 lt gt EMOO0623 2 Assembly ol Sprites 4 502 sprite s 34 90 Attache an PE Es A DISPLAY 47 FPS F Mode expert par objets par propri t s Use
12. mode the initial values are recopied into the current values User Manual VIRTUAL UNIVERSE PRO V2 Page 24 Construction of a 3D emulator Set the general properties of a 3D emulator Display properties By default VIRTUAL UNIVERSE PRO opens automatically to a preset pattern of world in terms of display The units used by default in this world are millimeter length degree angle File Edition Configuration Simulation It is possible to change the units of length meters or millimeters the background color or to add shadows by accessing the properties of the world User Manual VIRTUAL UNIVERSE PRO V2 Page 25 In Expert mode it is possible to set many other display settings always in the properties of the world Resize the 3D emulator window when it opens Add an image to represent a sky above the world Impose to the 3D rendering engine a maximum graphics refresh rate Background color Ambient light B 128 128 128 Show shadows False Display the number ol 10 Use shader False Max frame per seconc 0 Fog False Fog color Fog start o Fog end Physic M Expert mode User Manual VIRTUAL UNIVERSE PRO V2 Page 26 Lighting properties The lighting of a 3D emulator is obtained by adding and adjusting lights The 3D world already has a default preset light This light white is located 50 meters above ground and has a radius of 100 meters It is possible to change the properties of this
13. perform a mathematical calculation or a copy between variables or constants and variables if the network is true User Manual VIRTUAL UNIVERSE PRO V2 Page 173 orally Open contact true if the state of the associated variable is true different from 0 F Normally Closed contact true if the state of the associated variable is false equal to 0 F Raising Edge contact true during one execution cycle if the state of the associated variable is changing from false equal to 0 to true different from 0 Falling Edge contact true during one execution cycle if the state of the associated variable is changing from true different from 0 to false equal to 0 ATF _ Timer contact true after the state of the associated variable has been true during a delay The delay is defined in seconds unity and has to be setting up in the contact properties Controller Edit Controller local variables list El Properties Type Local variable Name of the behavior or na Loc ET Se Bam anie intime nc EDEN er nom a in the program zone boues Drage items button Bie above to the Cancel RUN OK Items added reference program zone Cancel RUN Lx E behaviors by default c i User Manual VIRTUAL UNIVERSE PRO V2 Page 174 For this contact a pseudo variable type Intrinsic can be selected this means that the delayed signal is the one coming from the left part of the contact Controller Edit phase Conv
14. ww User Manual VIRTUAL UNIVERSE PRO V2 Page 189 Ul Virtual Universe Pro stop File Edition Configuration Simulation Universe H Nar Tyg Force and torque Speed Resource Displa Execute a Execute a script ipt Program Modifying a simulation folder W Virtual Universe Pro stop File Editon Configuration Simulation Universe at amp World pis b Light A double click on the behavior name also permits the modification of a somulation folder Adding an object on a simulation folder Program Simulation Se ex um 4 User Manual VIRTUAL UNIVERSE PRO V2 Page 190 Program Simulation Te rs y g w Jan y Core Le IL 32 a Le yt oo Mb COUR ee ee Vee aed S lt 1 H GS 2 RE A p sge tha oa wl 7 nr Ti i 1 43 Ar 41 P ye Sar pada spy AUTOMSIM object assistant ne User defined objects ah Automlab F ri Digital electronic Draw Electric co Accessory oe Connections Contacts Links ca Motors r Output compcnents Power sources Ga Common 0 volt DC power supply GY ot Ground i Power supply 24 volts Power supply L1 Power supply L2 4 Power supply L3 4 Power supply Neutral oo Transformer ook de DENSOS PRE REPRE ERE EEE EER a ies RARE pcci ENE tee User Manual VIRTUAL UNIVERSE PRO V2 Page 191 Drawing a link on a simu
15. ET ue switch_conveyor_brake 5001 t n switch_conveyor_forward 500 hy iT Trans5 Eu na Configuration de symbole a Types de donn es Configuration de t che MainTask The syntax to use for referencing CoDeSys variables in Virtual Universe Pro is as following lt application name gt lt POU name or GVL for global variables gt lt variable name gt Example Application GVL myvariable means global variable called myvariable of the application called Application MyApplication MyPOU anothervariable means variable anothervariable of the module MyPOU of the application MyApplication User Manual VIRTUAL UNIVERSE PRO V2 Page 216 Universal connection Virtual Universe Pro stop x EI Connection Driver Status SCHNEIDER M340 PLC or SIMULATOR Last error OPC CLIENT Link quality ADVANTECH 1 0 UNTIVERSALMA SIEMENS PLCSIM GATEWAY Options SIEMENS 5 7 PLC ROCKWELL Ethernet IP OMRON SIM AUTOMGEN PC executor IRAI AUTOMGEN UNIVERS ALMA This connection permits an universal access to the variables stat of a PLC emulator running on the same PC The main concept is to identify the PLC emulator by the name of its process and to localize an exchange area with a signature Virtual Universe Pro stop x El Connection Driver UNIVERSALMA Status Stopped Last error Link quality 0 El UNIVERSALMA Process search string SimRun Exchange area signature 52494941 Options
16. V2 Page 165 In STOP mode use the context menu or double click on an item Controller to open the configuration window Controller gq xj Edit Program pages list Delete Modify Add Contraller local variables list Properites of item selected Serial in the program zone Items added reference Cancel RUN behaviors by default a To add a program page click on Ada Controller Edit Name Lang Condition Variable j i i Program pages list Delete Modify 4 Add Controller local variables list Show full path for variable names Items added reference Cance RUN a Properites of item selected in the program zone behaviors by default User Manual VIRTUAL UNIVERSE PRO V2 Page 166 Program page Name Language Ladder T Execution condition Variable Aways execute al z Page execution may be conditionned by a local variable or a behavior page is executed if the value is not equal to 0 __ Cancel ox 7 The name of the page the language used and a possible execution condition can be completed Remarks The chosen language can t be changed for the page thus created The condition may be a behavior or a local variable state is used to validate or not the execution of each program page If the value of local variable or behavior is 0 the page is not executed it is otherwise Delete Modify Add Program pages list 4 C
17. VIRTUAL UNIVERSE PRO on a computer simply launch the execution of the installation package that was shipped on CD ROM or downloaded from Internet Visit our website www irai com to download the latest versions of VIRTUAL UNIVERSE PRO lf an older version of VIRTUAL UNIVERSE PRO is already present on your computer the installation package will install the latest version of VIRTUAL UNIVERSE PRO without altering the old version Removing the old version is made with the Add or Remove Programs tool in the Windows Control Panel If new 3D resources were added in the VIRTUAL UNIVERSE PRO Resource Library they will be retained By default VIRTUAL UNIVERSE PRO operates the Newton physics simulation engine which is included in the installation package VIRTUAL UNIVERSE PRO is also capable of running the simulation engine Physx from NVIDIA For that it is necessary to install the latest version of NVIDIA Physx engine It can be downloaded from NVIDIA s website User Manual VIRTUAL UNIVERSE PRO V2 Page 6 Licenses registration Register a license VIRTUAL UNIVERSE PRO works in a trial version limited to 15 days trial as long as you have not registered the license To register select License in the File menu Fie Edition Configuration Simulation License A license window is opened Click on Enter a license License Status of license in this place 4 ren Change license Move the license to anothe
18. a value change Safe Data is read before writing and is not written if the value is the same When writing data verification is made to check that the value is correctly written Get value from this behavior If nonempty this area gives the name of a behavior whose value will be read and copied into the internal current value External link If true this Behavior will be displayed in the I O list External value Expert mode Used by the only when changed mode Last value written to the external software Expert mode Used by the safe mode Need to be written Expert mode Used by the safe mode External error Expert mode Error message if an error occurred while accessing an external variable Empty if no error User Manual VIRTUAL UNIVERSE PRO V2 Page 134 Types of Behavior VIRTUAL UNIVERSE PRO offers a wide variety of predefined behaviors to be applied to 3D sprites These behaviors are organized in 7 categories presented in the Type of behavior window Types of behavior x Conveyor Displacement Resource Displacement Test Properties Code yo Other HMI input HMI output ane Conveyor displacement These behaviors are used to control the conveyor belt speed in translation or rotation depending on the conveyor shape User Manual VIRTUAL UNIVERSE PRO V2 Page 135 Types of behavior x Conveyor Displacement Resource Displacement Test Properties Code yo O
19. building future 3D emulator projects For more details on the properties of sprites see Properties of Sprites LE None TF Behavior The Behavior level provides access to properties of a behavior Behaviors are at the heart of simulation in VIRTUAL UNIVERSE PRO They represent the intelligence provided to sprites during simulation Behaviors can turn inert 3D Sprites into smart resources with the capability to move to interact and to communicate with the other 3D resources during simulation There are different types of predefined behaviors available in VIRTUAL UNIVERSE PRO depending on the resource type actuator sensor and controller to model Behavior can also represent inputs outputs for sprites allowing them to interact with other sprites and with any external controller In addition a script editor can be used to describe in Basic language more developed and custom behaviors based on predefined behaviors to model a real behavioral logic for the resource Behaviors like sprites can be saved and capitalized inside the VIRTUAL UNIVERSE PRO integrated resource library to be reused for quickly building future 3D emulators projects lt is possible to manually add copy paste move and delete behaviors For more details on the properties of behaviors see Properties of Behaviors The HMI level HMI provides access to the properties of a HMI HMls allow to create consoles which will be displayed into the render window an
20. children om k FR EMOO0617 s EMO00618 ni ER P gt Emoon619 Import f SD EMO00619 k m gt emooos20 Ut ee gt M000621 pY i Paste os gt M000622 User Manual VIRTUAL UNIVERSE PRO V2 Page 45 For more information on how to measure and optimize graphics performance of a 3D emulator see Measure graphics performances User Manual VIRTUAL UNIVERSE PRO V2 Page 46 Design smart 3D resources and systems VIRTUAL UNIVERSE PRO enables the design of new smart 3D resources and systems by reusing 3D CAD models Computer Aided Design These smart 3D resources and systems can be saved independently and be added to the VIRTUAL UNIVERSE PRO resource library to be reused for future 3D emulator projects In VIRTUAL UNIVERSE PRO a smart 3D resource is often composed of several 3D sprites structured assembly of sprites to which behaviors are attached During simulation these behaviors constitute the intelligence of the resource Example The Electrical Pusher available in the Demo Library is a smart 3D resource It features a structured set of sprites and behaviors that controls the drawer release return cylinder H Electrical pusher S A33660061 CHASSIS PRINCIPAL 1 D emia 3D Sprites ASE pusher RCE pusher home position A 3 pusher out position Be h aviors Les goa Main behavior S A33660066 CAPOT AVANT 1 S A33660067 CAPOT LATERAL 1 S A33660067 CAPO
21. conveyor 1 8m lt gt Linear roller conveyor 1 8m lt gt Scanner sensor lt gt Scanner sensor lt gt Linear belt conveyor lt gt Linear belt conveyor lt Sink Project tree H move pusher pusher home position pusher out position Main behavior gt Electrical pusher Expert mode 609 3d sprite s 325 behavior s je by objects by properties A Le A User Manual VIRTUAL UNIVERSE PRO V2 Page 17 Universe The Universe 3D emulator Using the 3D emulator with or without connection to an external software controller Automatic start of the simulation when opening the 3D emulator Navigation mode in the 3D rendering Setting rights to access the 3D emulator properties tC level provides access to the general use properties of the A default setting of these properties is proposed These properties can be modified by the user For more details on the properties of the Universe refers to Properties of the Universe World The World wor level provides access to the general display properties of the 3D emulator Setting of the background color Setting of the ambient light Adding an image to sky Setting of units CIC A default setting of these properties is proposed These properties can be modified by the user For more details on the properties of the World see Properties of the World Light The Light i level provides access to the lighting properties of the simul
22. emulator output o A value of O for the move behavior will result in a return displacement and a value of 1 to a go displacement o Min and Max have a value of 1 when the resource is located within the sensor range 0 otherwise User Manual VIRTUAL UNIVERSE PRO V2 Page 65 Moving as a function of speed This is typically the motion profile used in the case of an axis driven by a set motor variable frequency drive receiving speed setpoints from a programmable logic controller external to the 3D emulator gt DMOO0022 Endblock_SBG__ gt DM000022 Endblock_SBG_ gt DMOO0022 Vis_t_te_cylin gt DMOO0022 Vis__t_te_cylin gt DMOO0022 L350__PAS42_ gt DMOO0022 Gummipuffer_st gt DM000022 Gummipuffer_St gt DM000022 Gummipuffer_St D lt gt DMOO0022 Gummipuffer_St gt DMOO0022 Schaltwinkel_I17 DM000022 MAXR22_S2_H2 gt DM000022 MAXR2_E2_2601 S DM000022 Achsprofil_SBG_ S DM000022 Bandklemmung_ ti AMAAAAIN aren A MATA First select in the project tree the mobile part of the mechanical resource that you wish to set in motion this is the cylinder rod in the example above Then click the green tab Motion assistant to the left of the tree The Motion assistant window appears on screen User Manual VIRTUAL UNIVERSE PRO V2 Page 66 Virtual Universe BETA stop Speed vu x AXIS MOBILE Try iii Max 488 072 lt Set Set gt 18 453
23. light as it is possible to add more lights in the 3D emulator Fle Edition Configuration Simulation Name E Position D Coordinates Omm 50000mm 0 Omm 90000mm Omm 0 0 0 0mm 0mm 0mm Another parameter enables to set the default ambient light in the world the light and its intensity regardless of the lights added to the 3D emulator This parameter is located in the properties of the world Ale Edition Configuration Simulation Display the number ol 10 Physic HMI Options User Manual VIRTUAL UNIVERSE PRO V2 Page 27 Visualization properties Visualization in a 3D emulator is managed by the use of cameras viewpoints By default the 3D emulator has a single fixed camera single viewpoint whose objective is directed to the center of the world Fie Edition Configuration Simulation El Name Name Camera Location Current location Limits Options File Edition Configuration Simulation It is possible to add more cameras fixed or mobile and so to create additional views within the 3D emulator User Manual VIRTUAL UNIVERSE PRO V2 Page 28 Fie Editon Configuraton Simuiaton Caution This method of multi camera view can strongly reduce the performance of the graphics rendering refresh rate User Manual VIRTUAL UNIVERSE PRO V2 Page 29 Navigation properties By default the navigation within a 3D emulator is done using the mouse and its buttons VU navigation m
24. must be filled in The usable variables for the links are Tags used in the Rockwell program running in the PLC or the Emulator For a Tag belonging to a program the following syntax must be used PROGRAM lt program name gt lt tag gt example PROGRAM MYPROGRAM MYTAG User Manual VIRTUAL UNIVERSE PRO V2 Page 209 Connection to an OPC server Virtual Universe Pro stop ADVANTECH I O 4 SIEMENS PLOSIM GATEWAY Virtual Universe Pro stop x El Connection Driver OPC CLIENT Status Stopped Last error Link quality 0 El OPC Server name or IP address OPC server name must be filled in If this server is running on the same PC then the OPC server path item must be left blank For a distant server the network name or IP address of the server rmust be filled in Usable variable names for links are the OPC variables names User Manual VIRTUAL UNIVERSE PRO V2 Page 210 Connection to Siemens PLC SIM case of PLCSIM 5 4 SP lt 5 Virtual Universe Pro stop x SIEMENS PLCSII None propagate states Last error SCHNEIDER M340 PLC or SIMULATOR Link quality PLCSIM Opis SIEMENS PLCSIM GATEWAY AUTOMGEN PC executor IRAI AUTOMGEN Virtual Universe Pro stop x hae Driver SIEMENS PLCSIM G Status Stopped Last error Link quality 0 Server name or IP address 192 168 20 5 Fort number 5000 Options The PLCSimGateway exe program which is present in the Vir
25. of sprites and behaviors The smart 3D resources available in the VIRTUAL UNIVERSE PRO demonstration library are objects A 3D file Import 3D files from standard formats 3DS VRML STL OBu files etc in the VIRTUAL UNIVERSE PRO 3D emulator project A basic form Provides access to the library of basic 3D shapes available in VIRTUAL UNIVERSE PRO A basic is an object file VUO file representing a basic 3D shape VIRTUAL UNIVERSE PRO provides in its library a list of basic 3D shapes that can be reused in a 3D emulator project The basic object files are located in the library Primitive folder in the VIRTUAL UNIVERSE PRO Industry installation directory From SolidWorks Provides access to the SolidWorks data import tool For more information on how to import 3D models from SolidWorks see Import SolidWorks models Solidworks import strategy x Import a 3DXML file this file must be previously exported from Solidworks C Import from Solidworks using 3DXML Solidworks project must be previously opened in Solidworks C Import from Solidworks with COM mode Solidworks project must be previously opened in Solidworks slow R Annuler 0 Convert constraints to joints __ Annuler K From Inventor Provides access to the Inventor data import tool For more information on how to import 3D models from Inventor see Import Inventor models Import from Inventor x Open assembly in Inventor and then click on Imp
26. the potential collisions of this sprite with other sprites lt o Move on Z o Move the sprite in translation relative to the axis Z of the parent sprite local frame local frame The property Move and rotate mode lets you choose the drive mode for this displacement Time Speed Position Speed is in meters sec or mm s depending on the units selected in the properties of the world Important This behavior does not rely on the VIRTUAL UNIVERSE PRO ohysics engine However the Physics option can be enabled on the sprite to take into account the potential collisions of this sprite with other sprites ROA fae Rotate X o Move the sprite in rotation relative to the axis X of the parent sprite local frame local frame The property Move and rotate mode lets you choose the drive mode for this displacement Time Speed Position Speed is in degrees seconds Important This behavior does not rely on the VIRTUAL UNIVERSE PRO ohysics engine However the Physics option can be enabled on the sprite to take into account the potential collisions of this sprite with other sprites EE cel Rotate Y User Manual VIRTUAL UNIVERSE PRO V2 Page 139 o Move the sprite in rotation relative to the axis Y of the parent sprite local frame local frame The property Move and rotate mode lets you choose the drive mode for this displacement Time Speed Position Speed is in degrees seconds Important This behavior does no
27. to use a modern computer equipped with a powerful processor multi core Shape of 3D sprites used by the physics engine By default when added to the project 3D sprites are not exposed to the physics engine their option Use physics is disabled For optimizing the physics engine performance it is recommended to not declare too many 3D Sprites used by the physics engine and to choose the body type box when possible gt right side gt left side hi lt lt conveyor motor right gate m lt gt left gate H lt gt magnetic front H lt gt magnetic rear F Expert mode by objects by properties 17 3d sprite s 13 behavior s a The Any or Convex body types are those which provide the greater realism in the simulated physical phenomena but also strongly impact the physics engine In development phases it can be useful to visualize the geometries handled by the physics engine by activating the debug physics mode in the properties of the Universe User Manual VIRTUAL UNIVERSE PRO V2 Page 102 Connection E Options Automatic run False Navigation mode VU om Moses ru ii a om es SD right side s gt left side H gt conveyor motor A right gate HS magnetic front H magnetic rear Expert mode 3d A ee C by 17 3d sprite s 13 behavior s Performances of dialog with the external software controller The dialog performances with the external sof
28. 3552 9825 45 DMOO0022 Endblock_ sw1f338 0bj 112561 3490 0 355 9825 43 DMOO0022 Endblock_ swif339 0bj 114390 3490 0 3552 9825 45 DMOO0021 part3 3 swif151 obj 87525 2790 0 588 4744 29 DMOO0021 part3 2 swif153 0bj 86803 2790 0 588 4744 3 NMOOIN 1 nart3 3 au1f157 nhi 87480 77an n SRA 4744 37 Double click on the name of a 3D sprite to open it Total triangles number 298147 conet_ ok This 3D geometry optimization tool enables to Reduce the number of triangles composing a 3D sprite on the selected 3D sprites the tool applies a percentage reduction in the number of triangles respecting a minimum threshold minimum number of triangles not to be exceeded User Manual VIRTUAL UNIVERSE PRO V2 Page 43 Original data Optimized data 6 982 triangles 2 093 triangles 70 Original data Optimized data 19 456 triangles 2 234 triangles 89 Remove unnecessary small 3D parts on the selected 3D sprites the tool deletes the 3D parts whose size volume is below a threshold en User Manual VIRTUAL UNIVERSE PRO V2 Page 44 This optimization tool is available at two levels At the World level optimization is applied to all 3D sprites in the 3D emulator project v Delete eer import i L lt o f Optimize Include to rendering Exclude from rendering Ata 3D sprite level optimization is only applied to the selected sprite and all its 3D sprites
29. 8 Min and Max positions p p r Command type Immediate position sensor Sensors posz num 500 500 lt lt 30 30 Boolean sensor Max position Boolean sensor Min position Set the Min and Max stops either manually or by moving the resource directly in the rendering window these stops will not be reached by the resource Select the Move command type according to the command you wish to apply preset speed preset acceleration deceleration time The following image illustrates how to create a movement with two preset speeds 100 and 100 mm s and a profile of acceleration deceleration one second to reach the applied speed User Manual VIRTUAL UNIVERSE PRO V2 Page 67 Move command type speed x Behavior value defines speed Preset speeds Speed measurement unities Back_speed 100 g Use acceleration and deceleration times as defined bellow Apply immediately the speed if unchecked Acceleration time second 1 Deceleration time second 1 Cancel OK The addition of an immediate position sensor returning directly the resource position along the motion axis constitutes a position feedback The following image illustrates the creation of such a sensor posz Sensor E x Name Type For position sensor scaling defines value for begining and end positions Other values are extrapoled Delete this sensor Cancel tis also possib
30. 865087 1330 152 937 8 6964 external gate bord2 obj 865087 1330 152 937 8 6964 external gate bord2 obj 865087 1330 152 937 8 6964 A33660065 ENVELOPP importi _sw1f10 obj 78896 1300 39 1208 33 2304 A33660065 ENVELOPP import2 _sw1f10 obj 78896 1300 39 1208 33 2304 internal gate internal border obj 457313 1156 4 58707 252 013 internal gate internal border obj 457313 1156 4 58707 252 013 axis axes obj 115927 1134 39 5953 28 6397 axis axes obj 115927 1134 39 5953 28 6397 axis axes obj 115927 1134 39 5953 28 6397 Curve roller conveyor 30 onlybody obj 99139 1110 175 677 6 31841 Curve roller conveyor 30 onlybody obj 99139 1110 175 677 6 31841 axis _axis obj 107928 1080 14 9085 72 442 axis _axis obj 107928 1080 14 9085 72 442 axis axis obj 107928 1080 14 9085 72 442 Es Double click on the name of a 3D sprite to open it Total triangles number 299982 Cancel Lx For more information on how to measure and optimize graphics performance of a 3D emulator see Measure graphics performances Include to rendering Exclude from rendering Make all the 3D sprites visible invisible in the 3D rendering window User Manual VIRTUAL UNIVERSE PRO V2 Page 117 Properties of Lights Detailed properties of Lights Name E Position Coordinates Direction DP Floor Target ft getteeeennenes x Ss Camera E Color type etc Color Power Radius Hide light Light halo size Type Faloff Outercone Inercone A
31. C or SIMULATOR Options OPC CLIENT i ADVANTECH I O SIEMENS PLCSIM GATEWAY SIEMENS 57 PLC ROCKWELL Ethernet IP AUTOMGEN PC executor AL A AET ie lt gt rollers group n gt magnetic front lt o magnetic rear vu lt gt conveyor motor a lt gt right gate left gate gt Linear roller conveyor 1 8m Once the Driver is selected the connection settings PLC IP address CPU position on the rack OPC server name are made in the tab specific driver E Connection Driver SIEMENS 57 PLC Status Stopped Last error Link quality 0 IP address 192 168 56 3 CPU position 0 User Manual VIRTUAL UNIVERSE PRO V2 Page 89 Mapping between the 3D emulator inputs outputs and the external controller variables The 3D emulator inputs outputs can be linked to the external software controller variables at two levels at the input output behavior level declared as external link CL cr le x Er Type etc ae amp 3 Monde E Link AP Ee a Lumi re 57 variable ela Comer nr ES Initial value o HMI Current value O 3 DN lt o 0 floor Data conversion Copy no conve Internal current 0 H sd gt 1 si aca Get value from t P gt 2 Linear belt conveyor 3m 1 External link True 3 right side 3 pe i 4 left side de fj Linear belt conveyor 3m 1 2 LES Controller S TBA 100 speed Ls esses TE 169 stay here
32. ERSE PRO V2 Page 143 Ro Define ambient color o Sets the ambient color of a 3D Sprite Important This behavior colors the sprite materials The coloring of these materials has to be enabled in the sprite options 2 Set invisible o Makes the object invisible if enabled a value of 1 EE Disable physic o Disables physics for the 3D Sprite if activated a value of 1 Code Types of behavior a x Conveyor Displacement Resource Displacement Test Properties Code vo Other Script Script File Execute a script file ws z Script H Execute a script User Manual VIRTUAL UNIVERSE PRO V2 Page 144 o Runs the script written in the tab Code if the behavior s current value is different from 0 Script editor x Script Script editor Help on functions GetValSprite3d lt parametername gt return a sprite3d value In parametername string can be optionnal lt 3d sprite name gt lt parameter gt if no sprite name is used the parent 3d sprite o lt 3d sprite name gt is the name of the 3d sprite w b Basic Help_ The language used in the script editor is the Beebasic For more information please refer to the basic api chm file available in VIRTUAL UNIVERSE PRO installation directory and to the Help on functions field under the script editor Here is a list of the main functions used by the script editor Getbehavior lt parameter gt re
33. ET 5 f AH LUI 1 ii L our HT HIHI Etats 3 ag Packaging LEZ Bo A The advantage of this method is to not constraint the VIRTUAL UNIVERSE PRO user to have SolidWorks installed on his computer jE LUTE TETEEEPEEEEEEEE jti SESEELREAUES eeeeeeeeeeeeeS LECEPEPELEUATEEET Previously the full 3D data has to be opened in SolidWorks and saved as a 3DXML file SolidWorks D 8 H 8 9 R 8 I Origine 3 EEOO00406 lt 1 gt D faut SB EEOO00407 lt 1 gt D faut SB f EMCOO280 lt 1 gt D faut P cel EOOO00688 lt E0000686 lt 1 gt D faut FMFO1922 lt 1 gt D faut S FMTO1519 lt 1 gt D faut amp h FMTO1524 lt 1 gt D faut amp SB FMTO1524 lt 2 gt D faut FMTO1533 lt 1 gt D faut eS FMTO1534 lt 1 gt D faut amp FMTO1535 lt 1 gt D faut pza AEDO0060 lt i mars oe de lt i gt AEDO0261 part2 lt 1 gt D fa SB EPOO0041 lt 1 gt D faut ES APDO0023 lt 1 gt D faut SB AMEO0335 lt 1 gt D faut s SB AMEO0335 lt 2 gt D faut D f f AMEO0335 lt 3 gt D faut D a 2S i 0 i 7 Ps 2 Be z E O AMEO0335 lt 4 gt D faut Packaging Machine 3DXML In VIRTUAL UNIVERSE PRO open the set up window User Manual VIRTUAL UNIVERSE PRO V2 Page 36 File Edition Configuration Simulation FI E Connection Options 1 3d sprite s 0 beh
34. IP Local simulator allows the communication with Unity Pro V4 or greater running on the same PC PLC connected on USB allows the communication with a M340 PLC on USB port PLC or simulator on IP allows the communication with a M340 PLC connected on Ethernet or with Unity Pro simulator running on another PC connected over Ethernet For this mode the network name or IP address have to be filled in The usable variables names for links are inputs outputs and internal variables Bit 16 bits words 32 bits words and floating types can be used Examples 10 0 1 MW10 QW0 12 MF15 Limitation the Unity Pro simulator doesn t allow access to I O variables In this case you must use internal variables User Manual VIRTUAL UNIVERSE PRO V2 Page 204 Connection to a Schneider Electric m238 PLC The SoMachine Schneider Electric software must be installed on the PC Virtual Universe Pro uses SoMachine gateway for communicating with m238 PLC The PC must be connected to the PLC SoMachine and Virtual Universe Pro can communicate with the PLC at the same time Virtual Universe Pro stop conveyor vu e Editon Configuration Simulation O Connection Driver Ikere El Connection a gt Driver SCHNEIDER M238 PLC a 2 My world Status Stopped l f _ T My light Last error Link quality 0 si 4 My camera E M238 i SD box M235 SN 455 haea lt o floor Options Select Device x Select the netwo
35. IRTUAL UNIVERSE PRO V2 Page 48 For changing the size of a sprite just modify the dimensions parameters of this sprite in the Position and Size tab in the sprite options The displayed units meters or millimeters are those selected in the properties of the World Fichier Edition Configuration Simulation Coordonn es Omm 0mm 0mm Rotations 0 0 0 Position de l axe de rotation 0mm Omm Omm E Dimensions 1115 0057mm 370 00376mm 620mm x 1115 01mm Y 370 004mm 620mm Sheiddddecnnmnansnbnteaadseoneccaas Sho onnoocone E cnenecmoce User Manual VIRTUAL UNIVERSE PRO V2 Page 49 Add basic 3D shapes VIRTUAL UNIVERSE PRO provides a set of basic 3D shapes cubes cylinders available in the resource library These basic shapes are used to represent the 3D elements missing in the original CAD 3D models like a sensor beam or the moving part of a conveyor belt 06 07 11 05 0 06 07 11 05 0 02 28 12 12 1 12 01 11 10 0 12 24 10 04 2 12 01 11 10 0 06 07 11 05 0 06 07 11 05 1 06 07 11 05 0 06 07 11 05 0 06 07 11 05 0 06 07 11 05 0 06 07 11 05 0 Example For building the conveyors available in the demonstration library Demo library a basic 3D shape parallelepiped was used to model the conveyor moving part Conveyor motor sprite This primitive shape was first inserted into the conveyor resource resized and positioned in the right place and it w
36. Links window listing all behaviors reported as External links This can be useful to control the Light with an external variable User Manual VIRTUAL UNIVERSE PRO V2 Page 120 Properties of Cameras Detailed properties of Cameras Univers E Nom e Monde Nom Cam ra Ur ns E Position Lumi re am Position de la cam ra 0 86946392 35 48361 we Coordonn es de la cible 0mm 0mm 0mm S amp P floor E Position courante Position de la cam ra 0 86946392 35 483614 Coordonn es de la cible 0 0 O E Limites Zoom minimum 100mm Zoom maximum 50000mm Minimum rotation Y 5 Cam eras Maximum rotation Y 89 Minimum X Omm prope rties Maximum X 0mm Minimum Y Omm Maximum Y Omm Minimum Z Omm Maximum Z Omm E Options Fixe False Tourne avec l objet par False Active au d marrage False Coefficient de zoom 0 1 Coefficient de d placem 0 5 Name Name of the Camera Location Determine the initial position of the Camera by the coordinates of the target where the Camera is looking as well as rotation about the axes X and Y and zoom Current location Same as above but for the current position The current position can be copied into the original position by clicking the downward arrows appearing on the right elements of initial positions and selecting Copy from current values Limits Restrict the Camera s movements User Manual VIRTUAL UNIVERSE PRO V2 Page 121 Options Fixed The
37. MRON variables types must be read or written then copy to or from this variables must be written in the Omron CX Programmer program Mov instruction can be used for doing this The localization of the DM variables needs that 2 DM words have to be preset with specific values at the beginning of the exchange area These 2 values are used as signature and permits the driver to found the exchange table The signature is only used at connection time The 2 signature words are the words number 0 and 1 of the table the next word is word number 2 etc First signature word Second signature word Third word position 2 position O of the table position 1 if the table of the table value hex 4952 value hex 4149 Depending on the Windows version this technology may needs Virtual Universe Pro to be run in administrator mode For launching Virtual Universe Pro in administrator mode right click on the Virtual Universe Pro launching shortcut and select Run as administrator Virtual Universe Pro stop OMRON SIM None propagate states SCHNEIDER M340 PLC or SIMULATOR OPC CLIENT Options ADVANTECH I O SIEMENS PLCSIM GATEWAY SIEMENS 7 PLC ROCKWELL Ethernet IP OMRON SIM AUTOMGEN PC executor IRAI AUTOMGEN The configuration of the links is made by selecting the number of the DM word from the beginning of the exchange table and the access type The access type specifies if the read or write will be processed to a bit of the word to th
38. Manual VIRTUAL UNIVERSE PRO V2 Page 198 Program Simulation User Manual VIRTUAL UNIVERSE PRO V2 Page 199 Program Simulation Sa rji tric User Manual VIRTUAL UNIVERSE PRO V2 Page 200 User Manual VIRTUAL UNIVERSE PRO V2 Page 201 000000 RSPE ED 900 R SPEER O RSP Hold down the ALT key to enable free moving of the object 000000 RSPEEDX gt User Manual VIRTUAL UNIVERSE PRO V2 Page 202 T Virtual Universe Pro RUN L File Editon Configuration Simulation Name Drawing Debug Program Simulation eyenconaege ELLE LE LE LE sl Num A A The examples which can be found on the Electric and pneumatic sub directory of the Virtual Universe Pro installation directory show the diagram simulation functionalities User Manual VIRTUAL UNIVERSE PRO V2 Page 203 External connections The PLC connection samples directory of the Virtual Universe Pro example directory contains Virtual Universe Pro examples and also programs created with the corresponding PLC workshops Connection with a Schneider Electric M340 PLC or Unity Pro simulator irtual Universe Pro stop El Connection Driver st None propagate states irtual Universe Pro stop E Connection Driver SCHNEIDER M340 PLC o Status Stopped Last error Link quality 0 El M340 M340 driver mode Server name or IP Options Local Simulator Local Simulator PLC conected on USB PLC or simulator on
39. Manual VIRTUAL UNIVERSE PRO V2 Page 93 File Edition Configuration Simulation v Run Source age El Clear Test the 3D emulator During simulation it is possible to test the 3D emulator by forcing and displaying its input output variables connected or not to an external software controller This allows for example to test the 3D emulator before the PLC program is fully complete or available or to simulate unexpected scenarios PLC connection interruption In the Simulation Debug I O menu the user can access to the 3D emulator I O monitoring and debugging window User Manual VIRTUAL UNIVERSE PRO V2 Page 94 File Edition Configuration Simulation Run Program simulation Debug eee x Name Alias External variable Forcing Acquisition time Error 4 yellow light Q12 stop 21 _ start 90120 E red ight Q10 oo power 96110 T manual mode I24 nt 96125 D 0 gripper sensor 90172 D 0 rue Q71 r N gripper out postion 1 E gripper home request Q70 On Gn green ight Q11 ooo o grab Q72 D 0 emergency 3 96126 i emergency 2 1I11 D O emergency 1 90122 OO pure 600 conveyor speed MW300 i rT conveyor detection sensor 2 I31 0 0 conveyor detection sensor 1 130 auto mode 90123 Z axis out request Q62 Z axis out postion 06162 FN os 96061 E Z axis mid postion 161 lL Go Z axis home request Q60 0 0 7 avic hama nacition onten lll Mlle The Name column indi
40. S in the 3D rendering window during simulation and offline simulation It also corresponds to the graphic refresh rate In VIRTUAL UNIVERSE PRO this information is constantly displayed in the lower left of the 3D rendering window Fichier Edition Configuration Simultion dE as ES W DISPLAY 144 FPS The graphic performances of a 3D emulator mainly depend on the following factors The graphics card quality and performance installed on the computer running the 3D emulator The 3D geometry complexity displayed in the emulator 3D rendering The number of cameras views used in the 3D emulator The set up window opening or closing during simulation User Manual VIRTUAL UNIVERSE PRO V2 Page 97 We consider that the graphics performances of a 3D emulator are good when the graphics refresh rate always remains above 15 FPS 15 frames per second Optimize graphics performances Graphic card For getting good graphics performance with the VIRTUAL UNIVERSE PRO 3D emulators it is strongly recommended to use a modern computer equipped with a good graphics card Graphics cards dedicated to the world of video games are particularly powerful and adapted for VIRTUAL UNIVERSE PRO 3D emulators 3D geometry simplification The 3D models created with CAD software often have very complex 3D geometries number of triangles and small parts that are not always necessary to VIRTUAL UNIVERSE PRO 3D emulators and may instead greatly
41. SE PRO V2 Page 112 Global size coefficient mode expert Modify the size position and speed values By default the global size coefficient is 100 for each axis corresponding to a display of measurements units in millimeters Measure unities for length and location Define the unities used for coordinates and size properties by default the millimeter User Manual VIRTUAL UNIVERSE PRO V2 Page 113 Functionalities at the World level Ale Edition Configuration Simulation Add Delete Import Paste External links Optimize Include to rendering Exclude from rendering Add Add a 3D Sprite Light or Camera as Child of the World Import An object Import a VIRTUAL UNIVERSE PRO object VUO file in the 3D emulator project A VIRTUAL UNIVERSE PRO object is a simulation resource that is to be reused in a 3D emulator project An object may be limited to a simple sprite or behavior or may represent a more complex smart 3D resource assemblies of sprites and behaviors The smart 3D resources available in the VIRTUAL UNIVERSE PRO demonstration library are objects A 3D file Import 3D files from standard formats 3DS VRML STL OBu files etc in the VIRTUAL UNIVERSE PRO 3D emulator project A basic form Provides access to the library of basic 3D shapes available in VIRTUAL UNIVERSE PRO A basic is an object file VUO file representing a basic 3D shape VIRTUAL UNIVERSE PRO provides in its library a lis
42. T LATERAL 2 MD A33660068 CAPOT DESSUS 1 gt A33660069 CAPOT ARRIERE 1 3 D Sprites User Manual VIRTUAL UNIVERSE PRO V2 Page 47 Modify position and dimensions of a 3D sprite In VIRTUAL UNIVERSE PRO the position of a sprite in the 3D world is defined in relative coordinates relative to the parent sprite Thus when data is imported from 3D CAD software each sprite has a default set of null coordinates position and rotation in the local frame positions relative to the parent sprite For moving a sprite there are two methods It can be moved directly by the arrows translation or circles rotation of the X Y Z compass attached to the sprite Fichier Edition Configuration Simulation Li E Dessin E Position et taille E Mat riel f Options oe NB A33660066 CAPOT AVANT 1 gt A33660067 CAPOT LATERAL 1 gt A33660067 CAPOT LATERAL 2 FF A33660068 CAPOT DESSUS 1 M A33660069 CAPOT ARRIERE 1 Compass attached to the Sprite It can also be moved precisely through the local coordinate settings Position and size The displayed units meters or millimeters are those selected in the properties of the World if A33660066 CAPOT AVANT 1 M A33660067 CAPOT LATERAL 1 Position de l axe de rotation Omm Omm Omm a gt A33660067 CAPOT LATERAL 2 ORERE 1115 0057mm 370 003 mb A33660068 CAPOT DESSUS 1 Mat riel if A33660069 CAPOT ARRIERE 1 Options Physique User Manual V
43. VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite and that a revolute hinge joint is defined between the sprite sprite moved and the parent sprite aoe mou Relative angular speed o Defines the angular velocity of the Sprite relative to the axes of the local coordinate system relative to the sprite local frame In degrees s Important This behavior relies on the VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite and that a revolute hinge joint is defined between the sprite sprite moved and the parent sprite Example This behavior is used in the conveyor types Curve roller conveyor available in VIRTUAL UNIVERSE PRO demo library to manage the conveyor belt speed Resource displacement These behaviors are intended to control the movement of 3D objects and 3D resources translation rotation position These are the behaviors the most widely used to manage the resources movements in the VIRTUAL UNIVERSE PRO 3D emulators Most of these behaviors can be created and configured automatically using the Motion Assistant For details see Define motion profiles with the Motion Assistant User Manual VIRTUAL UNIVERSE PRO V2 Page 137 These behaviors do not rely on the VIRTUAL UNIVERSE PRO physics engine and do not require a kinematic joint between the child and parent sprites Types of behavior x Conveyor Displacement Resou
44. ailable in VIRTUAL UNIVERSE PRO or custom behaviors scripts created with a script editor integrated in VIRTUAL UNIVERSE PRO All the resources created in VIRTUAL UNIVERSE PRO smart 3D resources or simple behaviors without 3D representation can be saved and stored inside a VIRTUAL UNIVERSE PRO resource library and can be reused for quickly building future 3D emulator projects It is possible to model one or more virtual controllers inside the 3D emulator motion controller control sequence and to define a 2D control panel for modeling an human machine interface The virtual system in VIRTUAL UNIVERSE PRO can be connected and simulated with an external controller such as a Programmable Logic Controller At any time during its construction the performance of the 3D emulator 3D rendering quality physics engine performance can be measured and if necessary improved Finally it is possible to generate standalone 3D emulators executable files called olayers limited to simulation and requiring no software installation User Manual VIRTUAL UNIVERSE PRO V2 Page 16 Composition of a 3D emulator At any time the Setup window provides access to the setup and construction tools of a 3D emulator project The 3D emulator project elements are structured and presented in a tree File Edition Configuration Simulation lt gt Input station A Sorting station lt gt Linear roller conveyor 1 8m lt gt Linear roller
45. al systems created in VIRTUAL UNIVERSE PRO can be connected to PLCs Programmable Logic Controller in order to create realistic virtual automated systems During simulation the virtual system in VIRTUAL UNIVERSE PRO is controlled in real time by the PLC thanks to a permanent dialog established between the Inputs Outputs of the PLC program and those of the virtual system VIRTUAL UNIVERSE PRO is compliant with some PLC brands and it therefore offers several types of PLC connectors communication protocols These are listed below Connector PLC brand PLC types Any PLC or control system Any PLC or control system SEP compliant with OPC compliant with OPC Eee Rockwell Compact Logix Control Logix Allen Bradley or Softlogix Emulator site Rome Compal wh Auomgar omonsm omon CX Simulator Emulator User Manual VIRTUAL UNIVERSE PRO V2 Page 22 Internal working of VIRTUAL UNIVERSE PRO It may be helpful to understand which are the internal mechanisms and technologies used in VIRTUAL UNIVERSE PRO to enable simulation e Uses Newton Physic or Nvidia Physx fo Uses Irrlicht rendering engine Scripts in Basic language e Virtual Controllers Connexion with external controllers PLCs For managing the display of the 2D and 3D sprites in the 3D emulator during and off simulation VIRTUAL UNIVERSE PRO operates the 3D rendering engine called Irrlicht This engine is run in pa
46. ame gt Example Application GVL myvariable means global variable called myvariable of the application called Application MyApplication MyPOU anothervariable means variable anothervariable of the module MyPOU of the application MyApplication User Manual VIRTUAL UNIVERSE PRO V2 Page 207 Connection to a Siemens PLC S7 1200 S7 300 or S7 400 The PC and the PLC must be connected to a network Virtual Universe Pro stop AUTOMGEN PC executor IRAI AUTOMGEN Virtual Universe Pro stop E Connection Driver SIEMENS 57 PLC Status Stopped Last error Link quality 0 The IP address of the PLC must be filled in the S7 IP address item For the S7 400 PLC the PLC CPU position in rack must also be filled in the S7 CPU position item The usable variables for link names are inputs outputs and internal variables Bit 16 bits words 32 bits words and floating types can be used Examples 10 0 MW10 QWO MF15 User Manual VIRTUAL UNIVERSE PRO V2 Page 208 Connection to a Rockwell Compact Logix PLC Control Logix PLC or SoftLogix emulator Virtual Universe Pro stop x Ee Connection Driver ROCKWELL Ethernet IP AUTOMGEN PC executor IR AI AUTOMGEN Virtual Universe Pro stop x EI Connection Driver ROCKWELL Ethernet IP Status Stopped Last error Link quality 0 IP address 192 168 20 5 CPU position 0 The PLC or PC SoftLogix IP address and CPU position
47. as finally hidden User Manual VIRTUAL UNIVERSE PRO V2 Page 50 User Manual VIRTUAL UNIVERSE PRO V2 Page 51 Add behaviors to 3D sprites Behaviors are the intelligence provided to the sprites during simulation Adding behaviors to sprites enables you to build smart resources capable to move in the 3D world interact with other 3D resources or communicate with each other or with external software For example behaviors can be used to model the actuators and sensors within the operative part of an automated system Behaviors are either predefined and configurable behaviors available in VIRTUAL UNIVERSE PRO or custom and more complex behaviors based on scripts created by user with the VIRTUAL UNIVERSE PRO integrated script editor A script is frequently used to model the main controller of the resource internal logic pusher Predefined and configurable behaviors pusher home position pusher out position Main behavior Behavior based on a script Adding a behavior to a sprite is made by right clicking on the selected sprite User Manual VIRTUAL UNIVERSE PRO V2 Page 52 E Name Name Sprite Drawing Position and size Material Options Physic Inthe behavior properties it is possible to choose the behavior type Le E Name sd dl Benavior 2 CRT E Type etc al Type of the behavior None do nothing S Link me be Sprite S TE Meme Behavior 1 Behaviors are organi
48. ator By default the 3D emulator already includes a preset light You can define multiple lights in the 3D emulator For more details on the properties of lights see Properties of Lights sae Camera The Camera level provides access the visualization options of the 3D emulator By default the 3D emulator already includes one camera It is possible to define multiple cameras in the 3D emulator to create different views For more details on the properties of cameras see Properties of Cameras The Sprite Sprite level provides access to the properties of a Sprite Sprites are the 3D objects composing a virtual machine project A Sprite is most frequently associated with an image file representing a 3D shape with its own size and location in the 3D world A sprite can also have no associated image and it may be only used to structure the 3D data assemblies Sprites are structured and presented in a parent child tree User Manual VIRTUAL UNIVERSE PRO V2 Page 18 lt is possible to manually add copy paste move delete sprites to build assemblies and 3D resources Importing 3D models from CAD software into VIRTUAL UNIVERSE PRO enables to create automatically 3D resources and assemblies of 3D resources all consisting of a structured set of sprites These assemblies of sprites and 3D resources created in VIRTUAL UNIVERSE PRO can be saved and stored inside the VIRTUAL UNIVERSE PRO resource library and can be reused for quickly
49. avior s Expert mode byobjects by properties Right click at the World level to access the Import from SolidWorks menu Importing data is also available at a sprite level whatever its position in the project tree File Editon Configuration Simulation Universe Belete Import Faste External links Optimize from Solidworks Include to rendering from Inventor Exclude from rendering Expert mode 1 3d sprite s 0 behavio i by objects by properties a es a tA A dialog box opens with several import methods Choose the first method Import a 3DXML file User Manual VIRTUAL UNIVERSE PRO V2 Page 37 Solidworks import strategy Import a 3DXML file this file must be previously exported from Solidworks C Import from Solidworks using 3DXML Solidworks project must be previously opened in Solidworks Import from Solidworks with COM mode Solidworks project must be previously opened s in Solidworks slow Convert constraints ta joints IE An explorer window opens you can select the 3DXML file to import g je Computer SDATAI E VIRTUAL COMMISSIONING Data Organize Include in library Share with Burn New folder a Oo PA L Documents a Music J Pictures S amp Videos Packaging Machine 3DXML a Homegroup M Computer amp gt OS C DATA D gt SDATAI E ase SDATA F gt 1 tem
50. ax Begin 0 End 0 c a Use an acceleration deceleration profile to reach a position with the parameters defined bellow Reach immediately the position if unchecked Maximum speed in measurement unities s degrees s for rotations 100 Time to reach maximum speed in seconds acceleration 1 Time to reach null speed in seconds deceleration 1 ae x The addition of an immediate position sensor returning directly the resource position along the motion axis constitutes a position feedback The following image illustrates the creation of such a sensor posz For position sensor scaling defines value for begining and end positions Other values are extrapoled Value for begining Value for end Delete this sensor It is also possible to add Boolean sensors AON sensors all or nothing returning 1 if the mechanical resource is within the detection range of the sensor and O otherwise The following example illustrates the creation of a Boolean sensor sensor max located around the maximum position which can for example model a security sensor User Manual VIRTUAL UNIVERSE PRO V2 Page 72 Sensor Xl Name sensor_max Type Booi Postion For position sensor scaling defines value for begining E and end positions Other Sca values are extrapoled Value for begining Value for end Delete this sensor Cancel The generated behaviors are z 03 B move Direct writing of the resource pos
51. axis _axis obj 107928 1080 14 9085 72 442 axis _axis obj 107928 1080 14 9085 72 442 axis axis obj 107928 1080 14 9085 72 442 Es Double click on the name of a 3D sprite to open it Total triangles number 299982 Cancel For more information on how to measure and optimize graphics performance of a 3D emulator see Measure graphics performances Open the object Show only the selected object in the 3D rendering window and in the project tree File Edition Configuration Simulation Close object return to project H Electrical pusher Name D A33660061 CHASSIS PRINCIPAL 1 Drawing FH A33660065 ENVELOPPE RATEAU 1 Sn ane are gt A33660066 CAPOT AVANT 1 as Options gt A33660067 CAPOT LATERAL 1 Physic gt 133660067 CAPOT LATERAL 2 Billboard R A33660068 CAPOT DESSUS 1 Liquid effect gt A33660069 CAPOT ARRIERE 1 Particles Animation Jv Expert mode 9 3d sprite s 6 behavior s byobjects by properties pe rts Dock ig Fit to view Center the view on the selected 3D Sprite User Manual VIRTUAL UNIVERSE PRO V2 Page 132 Properties of Behaviors Detailed properties of Behaviors Name Universe 2 World Light Sx Camera lt gt Floor lt gt Detection sensor lt gt sensor support mirror support H pez scanner zone Test collision detection o Main behavior Name of the Behavior Type etc E Name Name Test co
52. be handled by the physics engine Any convex a convex shape derived from the 3D geometry of the Sprite Any Nvidia Physx only Box rectangular parallelepiped Sphere Capsule Cloth Nvidia Physx only Soft body Nvidia Physx only Fluid Nvidia Physx only User Manual VIRTUAL UNIVERSE PRO V2 Page 125 Caution The type Any when is used with a complex 3D Sprite with many sides may consume a lot of resources during physics simulation Prefer when possible one of the other types as Box type In the development phases it is possible and often useful to visualize the geometries handled by the physics engine by activating the debug physic mode in the properties of the universe Example Mass Mass of the object 0 freeze Moment of inertia Expert mode Determine the object s resistance to changes to its rotation Linear Angular damping Expert mode Linear angular viscous friction Auto adjusts center of mass Expert mode If true computes the center of mass from the geometric center of the object If false the center of mass is the point of coordinates 0 0 0 Center of mass Expert mode Define the object s center of mass Coefficients Determine the static and kinetic friction the elasticity and static softness coefficients A zero value uses the default parameters of the physics engine The coefficient used by the physics engine between an object A and object B is a co
53. by 9 3d sprite s 6 behavior s Pos 4 Stop the simulation At the A33660065 ENVELOPPE sprite level add a new Get informations behavior and rename it position X os a x A33660067 CAPOT LATERAL 1 A33660067 CAPOT LATERAL 2 a 2 displace ce Displacement Test Properties Code VO other Get penetration with other Get objects Cox anuer 5 In the behavior properties select X position in the Select information to be read from the 3D sprite field This behavior then returns the position along the A33660065 ENVELOPPE sprite X axis in the local coordinate system relative to the parent sprite Electrical pusher User Manual VIRTUAL UNIVERSE PRO V2 Page 58 Type of the behar Get 3D sprites Scaling minimum 0 Scaling maximum 0 E Link Initial value 0 Current value 0 Data conversion Copy no con Internal current vz 0 Write mode Normal Get value from thi ER Electrical pusher os D A33660061 CHASSIS PRINCIPAL 1 j gt A33660065 ENVELOPPE RATEAU 1 Current valio a Dat Script editor a myloop E CO curpos GetvalSprite3d POSX if getbehavior pusher currentvalue true or getbehavior A3366006 setbehavior move values 1 Sox gt A33660066 CAPOT AVANT 1 gt A33660067 CAPOT LATERAL 1 mi A33660067 CAPOT LATERAL 2 S A33660068 CAPOT DESSUS 1 RB A33660069 CAPOT ARRIERE 1 else setbehavior
54. cates the 3D emulator input output variable name o red 3D emulator input variable o green 38D emulator output variable The External variable column the connected external software controller variable name The Current value column the variable current value The Internal Current value column indicates the variable internal before any conversion current value The Forcing column is used to force the variable The Acquisition time column gives the instantaneous time required for the exchange of the variable between the 3D emulator and the external software controller The Error column indicates a possible connection error with the external software User Manual VIRTUAL UNIVERSE PRO V2 Page 95 Measure and optimize the performances of a 3D emulator There are three criteria to measure and optimize the performances of a 3D emulator The graphics refresh rate 8D rendering speed and fluidity The physics engine performances realism of the simulated physical phenomena The speed of dialog with the external software controller User Manual VIRTUAL UNIVERSE PRO V2 Page 96 Measure graphics performances It is important to measure and optimize graphics performances of a 3D emulator Indeed these graphics performances directly influence the fluidity and visual quality of 3D rendering The graphics performances of a 3D emulator are represented by the number of frames displayed per second FP
55. color values 1 setbehavior reset color values O wait t setbehavior set red color values O setbehavior reset color values 1 End Sub myloop signal getbehavior red light currentvalue if signal true then while signal true signal getbehavior red light currentvalue flash 0 5 wend else setbehavior set red color values O setbehavior reset color values 1 endif goto myloop Inputs Outputs User Manual VIRTUAL UNIVERSE PRO V2 Page 150 Types of behavior x Conveyor Displacement Resource Displacement Test Properties Code YO Other Generic read ROA E Generic read o Input variable for VIRTUAL UNIVERSE PRO and output for the external software controller This behavior will only read a variable from external software controller ee vie Generic write o Output variable for VIRTUAL UNIVERSE PRO and input for the external software controller This behavior will only write a variable from the external software controller Others User Manual VIRTUAL UNIVERSE PRO V2 Page 151 Types of behavior x Conveyor Displacement Resource Displacement Test Properties Code yo Other HMI input HMI output ane 4 HMI input o Creates an input link to an HMI component a push button for example ROS HMI output o Creates an output link to an HMI component a light for example BE Play a sound one time o Enables to p
56. d and linear belt conveyor start linear belt conveyor speed linear belt cuis md start Main behavior myloop conveyor_speed getbehavior linear belt conveyor speed conveyor_start getbehavior linear belt conveyor start if conveyor_start true then setbehavior speed values conveyor_speed else setbehavior T speed values O endif goto myloop Exemple 3 Case of the Detection sensor resource available in the VIRTUAL UNIVERSE PRO resource library User Manual VIRTUAL UNIVERSE PRO V2 Page 148 The Main behavior is used to copy the collision test result from the test collision behavior to the detection sensor behavior test collision detection sensor Main behavior Main behavior collision getbehavior test collision setbehavior detection sensor values collision Exemple 4 Case of the Tower light resource available in the VIRTUAL UNIVERSE PRO resource library The RED lamp Main behavior handles the light flashing 0 5s period based on the red light input signal be 2 5 waj Ha H an AE set red color goa reset color o3 red light Main behavior 1 Fart2 1 Main behavior Sub wait t User Manual VIRTUAL UNIVERSE PRO V2 Page 149 ti getuniverse time miloop t2 getuniverse time if t2 t1 lt t 1000 then goto miloop endif End Sub Sub flash t wait t setbehavior set red
57. d a kinematic joint to be defined between the sprite and its parent EE Get penetration with other objects o Gives the penetration depth between the 3D Sprite associated with the behavior and other 3D sprites The parameter Name s of other sprites limits the action of this behavior to a group of 3D sprites Important This behavior relies on VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite Frequent use of this behavior may decrease the physics engine performances Example This behavior can model a proximity sensor RS lee information o Provides access to dynamic values belonging to a 3D Sprite The parameter Select information to be read from the 3D sprite determines the information received User Manual VIRTUAL UNIVERSE PRO V2 Page 142 SA Test if clicked o Takes the value 1 if the user clicks on the associated object with the left mouse button Important This behavior only works if the sprite is selectable by the mouse option Not selectable false Example The 3D resource Electrical Pusher available in the library uses this behavior O ROS Test if mouse over o Takes the value 1 if the user rolls over the object with the mouse Properties These behaviors are used to modify some properties Types of behavior E x Conveyor Displacement Resource Displacement Test Properties Code Yo Other ane User Manual VIRTUAL UNIV
58. d will use items like push buttons lights sliders etc For more details on the properties of HMIs see Properties of HMIs The Controller level i controller provides access to the properties of a controller Controllers may be children of the world or of a sprite They allow to create programs to control a full system or a part of a system For more details on the properties of controllers see Properties of Controllers User Manual VIRTUAL UNIVERSE PRO V2 Page 19 Example For understanding the concept of sprites and behaviors in VIRTUAL UNIVERSE PRO we Suggest you to look at the Electrical Pusher resource used in the conveyor project example available in the menu File Open Open a sample D 3 A33660065 ENVELOPPE RATEAU 1 ll 4 A33660066 CAPOT AVANT 1 gt 5 A33660067 CAPOT LATERAL 1 User Manual VIRTUAL UNIVERSE PRO V2 Page 20 Types of imported 3D CAD data VIRTUAL UNIVERSE PRO allows the reuse of 3D CAD Computer Aided Design models by a direct import of these data from their native CAD software or indirectly through an exchange file CAD Software VIRTUAL UNIVERSE AVIS TS eRS et OS t s peas Or lou OCR Here are the types of 3D CAD data that can be imported and reused today in VIRTUAL UNIVERSE PRO CAD Software Exchange file indirect import DS SolidWorks 3DXml Autodesk Inventor DS DS User Manual VIRTUAL UNIVERSE PRO V2 Page 21 List of available PLC connectors The virtu
59. e unlimited player VIRTUAL UNIVERSE PRO enables the generation of standalone 3D emulators executable files named players having an unlimited period of use The player generation functionality is protected by a security code Each player generated has its own security code which is unique For registering a security code select Build an exe file Build an unlimited player in the File menu VURY our Universe stop Fie Edition Configuration Simulation Build an unlimited player Once filled the player name a window is opened displaying a project code Build an unlimited PLAYER X Project code S18G4A996HESIT 84T PKG3H89MQIAIT CAH1BQKH6GAJ6245ADABIKAPCN9IEA3 Copy and paste this project code in an email and send your email to the following address contact iral com You will receive an unique security code to paste in the Security code field allowing you to generate an unlimited player When receiving the security code by email you have 30 days for using this code to generate the player Once generated the player the generation functionality will be blocked again and a new security code will be needed User Manual VIRTUAL UNIVERSE PRO V2 Page 9 It is highly recommended to use the limited players to make your tests test the communication with an external controller before generating the unlimited player considered as a definitive player Network installation VIRTUAL UNIVERSE PRO can be instal
60. e 3D parent Sprite the position of the object center and the absolute rotation to the world Material current values User Manual VIRTUAL UNIVERSE PRO V2 Page 124 These properties include the characteristics of the equipment used to display the object These characteristics are directly related to the Irrlicht rendering engine Transparency Set the transparency of the object from O no transparency to 1 full transparency Design both faces Expert mode Display the two faces of the objects surfaces Material current values RUN mode Same as above but for the current values Options Non selectable If true the 3D sprite is not selectable by mouse useful for large 3D sprites to let smaller Sprites be selectable Select parent If true select the parent instead of the object itself when clicked Magnetic Magnetic object for automatic positioning and connection of 3D Sprites Physic Use physic If true the physics engine will process this 3D Sprite If false the 3D Sprite will be ignored by the physics engine and have no physical interaction with the other 3D objects Use gravity If true the 3D Sprite will be subject to gravity Its mass must also be non zero User can apply force If true the user can in RUN mode acting on the object by holding down the right mouse button while the cursor is on the Sprite 3D and moving the cursor Body type Determine the geometry type of the 3D Sprite that will
61. e of the behavior is different from O and hidden otherwise This condition can display conditionally HMIs for example to create a menu system User Manual VIRTUAL UNIVERSE PRO V2 Page 156 Creation or modification of a HMI The context menu or double clicking on a HMI item provides access to the configuration window HMI setup Belete item User Manual VIRTUAL UNIVERSE PRO V2 Page 157 To define the elements of a HMI drag and drop the available items from the upper left area to the right area Belete iten HMI setup X horizontal position Y vertical position Color E 75 50 229 Bistable button False Assocatedbehavion User Manual VIRTUAL UNIVERSE PRO V2 Page 158 When a HMI element is selected its properties are accessible in the lower left area The Links section allows to define the relationship between the item and behavior HMI setup X horizontal positon 103 Behavior selection User Manual VIRTUAL UNIVERSE PRO V2 Page 159 HMI setup Width 0 Height 1000 Color B75 50 229 Associated behaSior_ Hoor Behavior 1 _ User Manual VIRTUAL UNIVERSE PRO V2 Page 160 Drawing elements text colored rectangles can also be used to materialize the bottom of a console as well as indications on HMI elements HMI setup Console x horizontal position 110 Y vertical position 190 Width i Height Remarks The values of the grid allow you to easily position
62. e whole word 16 bits integer or to a group of 2 4 or 8 consecutive DM words used as 32 bits integer or 32 or 64 bits float in this case the number is the number of the first DM word of the group User Manual VIRTUAL UNIVERSE PRO V2 Page 213 Connection to AUTOMGEN Virtual Universe Pro stop x FE Connection IRAI AUTOMGEI x Status None propagate states Last error SCHNEIDER M340 PLC or SIMULATOR Link quality OPC CLIENT AUTOMGEN AN ADVANTECH I O Options SIEMENS PLCSIM GATEWAY SIEMENS 5 7 PLC ROCKWELL Ethernet IP OMRON SIM AUTOMGEN PC executor IRAI AUTOMGEN The Execution Connection TCP IP Server of the AUTOMGEN project properties must be checked Virtual Universe Pro stop E X LC F E Connection vl Driver IRAI AUTOMGEN Status Stopped Last error Link quality 0 El AUTOMGEN AUTOSIM Server name or IP address localhost Port number 5000 Options lf AUTOMGEN is running on a distant PC the network name or the IP address must be filled in the Server name or OP address item If AUTOMGEN is running on the same PC then localhost must be used The usable variable names for the links are the whole AUTOMGEN variable names The AUTOMGEN PC executor driver permits a faster connection with the PC executor of AUTOMGEN User Manual VIRTUAL UNIVERSE PRO V2 Page 214 Connection to CoDeSys gain y Verse FTO DD GalewWwWay Editon Configuration Simulation
63. ee eee eee te 169 Fbd Sfc language iii 176 RON RO es aoesseateancesenetee ceuannteewaeuts aecceesearecuaee oneeenees 185 Diagrams SIMUIATION sisisi dardaia 187 Creation of a simulation folder 189 Modifying a simulation folder 190 Adding an object on a simulation folder 190 Drawing a link on a simulation folder 192 AUTOMATE GemeratiOn Or SOIT ARE T R 192 Eternal COMME COINS a 204 Connection with a Schneider Electric M340 PLC or Unity Pro simulator 204 Connection to a Schneider Electric M238 PLC eeccceecccsseceeeseeeseeeeeseeeeeseeeeseeeeeeas 205 Connection to a Siemens PLC S7 1200 S7 300 or S7 400 0 eceeceeeeeeeeeeeees 208 Connection to a Rockwell Compact Logix PLC Control Logix PLC or SoftLogix emulator E E E sie 209 CONGO o an OPO OV e aa aa a E 210 Connection to Siemens PLOS IM sessen A EE EEEE NNA 211 case of PLCSIM 5 4 SP lt 5 ecccccccccseeeseeeeseeeeseeeeseeeeseeceseueeseueeseueeseueesueesneessnees 211 CAS 6 PEO MGA E E a eer ee 212 Connection to OMRON CX Simulator iii 213 Conneccion om AUTOMOENS aa a ee eee ee 214 User Manual VIRTUAL UNIVERSE PRO V2 COMMECON 1G GOD CSS sine anse Al end en se 215 Unversal CONN CHIONMIE ER ne disc este ste deteste en encens 217 Example using universal connection with PLC emulator of the WinSPS S7 software MERE SOIN ee a 218 User Manual VIRTUAL UNIVERSE PRO V2 Introduction VIRTUAL UNIVERSE PRO Industry package is an innovative 3D modeling and emulation s
64. ems 47 Modify position and dimensions of a 3D sprite 2 2 00 ccecccceececeeeeceeeeceeeeseeeeseeeeseeeeseeees 48 Add BASIC 3D STADE dan so Diese cie ne dec eee eee 50 AGENCES OS D SDS ee sees eee 52 Define motion profiles with the Motion Assistant 62 User Manual VIRTUAL UNIVERSE PRO V2 Use a library Of smart resources 78 Import a smart resource from library c cece ceeccceeeceeeeneeeceeeeeeeeseeeseueeseeeseeseueeaeeeseeesaes 79 Export a smart resource into the library 81 Quickly connect 3D resources with the Magnetic option 83 Connect a 3D emulator to an external software controller cccceeccseeeeseeeeseeeeeeeeenees 86 Define the list of 3D emulator inputs outputs cee nna A 86 Connect a 3D emulator with an external software controller 89 A 90 est and debug a SD emulator need enme een comes nee nee esters 92 LAUNCH SIMULATION 1 0 0 ceec cece ceecceeeceeeeeeceeeceeeseeeseeeseeceeecaeesaeeseeseesauesaeeseeeseesseeseeeseeegs 92 SMV ATOM TINS SS e eS cease a ee on 92 TSG Wie O CMU O ee cece a a a dd de 94 Measure and optimize the performances of a 3D emulator eee ceeceeeeceeeeneeeseeeeees 96 Measure graphics performances ss 97 Optimize graphics performances ss 98 Measure the physics engine performances ss 101 Optimize the physics engine performances 102 Performances of dialog with the external software controller
65. erate independent 3D emulators as executable files exe called players A player embeds all the simulation intelligence from its original 3D emulator project from which it is created It can be connected to an external software controller depending on the type of connection defined in the original 3D emulator project and offers during simulation the same functionalities as the original 3D emulator project There are two types of players Limited player 2 minutes of use Unlimited player unlimited use User Manual VIRTUAL UNIVERSE PRO V2 Page 105 Limited players VIRTUAL UNIVERSE PRO allows the generation of players limited to a life of 2 minutes the player closes 2 minutes after it opened The generation of a limited duration player is available in the File Generate an executable Generate a limited player menu Fie Edition Configuration Simulation New Build a limited player User Manual VIRTUAL UNIVERSE PRO V2 Page 106 Unlimited players VIRTUAL UNIVERSE PRO allows the generation of unlimited players in term of duration but protected by a unique security code The generation of an unlimited duration player is available in the Build an exe file Build an unlimited player in the File menu This generation requires a security code For more information see Register a security code unlimited player File Edition Configuration Simulation Build an unlimited player User Manua
66. erties oe Name Initial value 1 Current value 1 Data conversion Copy no conversion Internal current value 1 Get value from this be jeter me AT pusher a i pusher home position Tt gt 4 pusher out position 0 A33660067 CAPOT LATERAL 1 0 A33660067 CAPOT LATERAL 2 if A33660069 CAPOT ARRIERE 1 FR Electrical pusher iB A33660061 CHASSIS PRINCIPAL 1 EC pusher home position 2 E pusher out position Link used to read or write the behavior variable by example name of a variable of an external El software The list of 3D emulator inputs outputs is available by a right click at the world level in the External Links window User Manual VIRTUAL UNIVERSE PRO V2 Page 87 BASES asie External links AOI TIE a a External inks List of 3D emulator inputs outputs User Manual VIRTUAL UNIVERSE PRO V2 Page 88 Connect a 3D emulator with an external software controller By default the 3D emulator project is not connected to an external software controller Configuring a connection with an external software controller Programmable Logic Controller PLC emulator OPC server is made in the Universe in the Connection tab by choosing a type of connector driver None propagate states Status Last error i caueceuna aa gt 2 rl 4 Camera None propagate states Link quality SCHNEIDER M340 PL
67. etized towards each other The connection is complete when the overlap between the two sprites is maximum User Manual VIRTUAL UNIVERSE PRO V2 Page 83 Fichier Edition Configuration Simulation Non s lectionnable False S lectionne le paren False F Mode expert 3 sprite s 3d 0 comportement s sb 4 Attache ou A par objets par propri t s To disable the Magnetic function and disconnect the sprites simply hold the Alt key while moving the sprite with the mouse Fichier Edition Configuration Simulation taal Non s lectionnable False S lectionne le paren False True F Mode expert Fe 3 sprite s 3d 0 comportement s JA par objets par propri t s f Attache i A Example All the conveyors available in the demo library of VIRTUAL UNIVERSE PRO use the Magnetic function User Manual VIRTUAL UNIVERSE PRO V2 Page 84 When a conveyor is approached to another conveyor using the mouse it positions and connects itself perfectly User Manual VIRTUAL UNIVERSE PRO V2 Page 85 Connect a 3D emulator to an external software controller Define the list of 3D emulator inputs outputs The list of 3D emulator inputs outputs corresponds to all Generic read and Generic write behaviors added to the project and reported as external links Types of behavior User Manual VIRTUAL UNIVERSE PRO V2 Page 86 The External Link property is available in the behavior prop
68. eyor 2 Rollers bral Ladder Awlays execute 2 sr Conveyor 1 Rotates rollers s gt Re Program pages list Delete Modify Add phase Topsensor big box gt LH ks 2 i phase Bottom sensor D HE lt 2 phase 3 4 F phase Controller local variables list HE j F dr E Properties lF Type shall Jep phase Conveyor Switch Rollers bri O Timer C __ Delay 5 2 000 4 4b 10 cH Comparison contact true if the numerical comparison is true Example activating Loc3 after 5 raising edges on Loc2 Loci is used as counter 0 ne oe User Manual VIRTUAL UNIVERSE PRO V2 Page 175 Fbd Sfc language Programs creations Controller Edit Lang Condition Variable Fbd Sfc Awlays ewecute aren enema e Delete Modify Add Oa 0 CSST The creation of programs is performed by dragging the items to the programming area A grid aligns the elements for a better presentation The elements are then connected by creating links Objects connections are represented by colored circles Red output connection can be connected to one or more input connections Green input connection can be connected to one output connection Blue SFC connection can be connected to another SFC connection User Manual VIRTUAL UNIVERSE PRO V2 Page 176 Links creation 1 move the cursor over a connection the cursor changes to a target and press the left mouse button without releasing the left b
69. g all behaviors defined as External links in the 3D emulator project at the World level For more information regarding the inputs outputs of a 3D emulator see Define the list of 3D emulator inputs outputs External finks x Inputs E Sorting station Scanner sensor scanner zone scanner sensor Alias Data conversion Copy no conversion E Sorting station Scanner sensor scanner zone scanner sensor Alias Data conversion Copy no conversion E Sorting station Electrical pusher A33660065 ENVELOPPE RATEAU 1 p Alias Data conversion Copy no conversion E Sorting station Electrical pusher A33660065 ENVELOPPE RATEAU 1 p Optimize Open the geometries optimization tool of VIRTUAL UNIVERSE PRO allowing user to simplify the geometry of all the 3D sprites used in the 3D emulator project world level Simplifying the 3D geometries enables to optimize the performance of 3D rendering For more information on how to use this optimization tool see Simplify 3D CAD models User Manual VIRTUAL UNIVERSE PRO V2 Page 116 Erase 3D sprites without child and with a volume lower than E Curve roller conveyor 90 only body obj 632396 5227 753 259 6 93918 Curve roller conveyor 90 only body obj 632396 5227 753 259 6 93918 Curve roller conveyor 90 only body obj 632396 5227 753 259 6 93918 external gate external border obj 463923 1332 11 2735 118 153 external gate external border obj 463923 1332 11 2735 118 153 external gate bord2 obj
70. ible Test These behaviors are designed to retrieve information about the 3D objects during simulation position or identifier of an object detection an object by a sensor collision detection Types of behavior yg x Conveyor Displacement Resource Displacement Test Properties Code yo Other Test Read Get collision colliding penetration with other object Test sprite with other Get Test if objects number position objects informations clicked RO E Tost collision with other objects o Enables to detect the collision of this spite with other 3D sprites The internal current value returns the number of triangles involved in the collision User Manual VIRTUAL UNIVERSE PRO V2 Page 141 Important The parameter Name s other sprite limits the action of this behavior to a group of 3D sprites The name of monitored sprites has to be specified EE Read colliding object number o Provides the identifier of the 3D sprite colliding with the current sprite Example The scanner sensor available in the VIRTUAL UNIVERSE PRO library operates this behavior KOJ E s sprite position o Enables to test whether the 3D Sprite position is between two bounds called Min position and Max Position This behavior can model a position sensor located on an actuator Important This behavior relies on the VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite an
71. ition 3D emulator input M ASE posz immediate position sensor 3D emulator output B go4 a ana Boolean sensor min 3D emulator output 7 XF TOENN Boolean sensor max 3D emulator output User Manual VIRTUAL UNIVERSE PRO V2 Page 73 Moving as a function of a position with acceleration and deceleration This is typically the motion profile used in the case of an axis driven by a set motor variable frequency drive receiving position setpoints from an axis controller internal to the 3D emulator Universe g 5 monde i ETN E Lumi re A se DMO00022 Endblock_SBG_ pM000022 Endblock_S8G__ i a DMOO0022 Kupplungsgehaeu gt DMOO0022 MoAd_PLE6Ox_PA gt DM000022 Vis__t_te_cylindi a DMOO0022 Vis___t_te_cylindr gt DMOO0022 Vis___t_te_cylindr gt 0M000022 Vis__t te_cylindr gt DM000022 L350__PAS42_B gt DMO00022 Gummipuffer_SBC gt DMOO0022 Schaltwinkel_1170 S DMOO0022 MAXR22 S2 H2 First select in the project tree the mobile part of the mechanical resource that you wish to set in motion Then click the green tab Motion assistant to the left of the tree The Motion assistant window appears on screen User Manual VIRTUAL UNIVERSE PRO V2 Page 74 Virtual Universe BETA stop Position internal controlerva Xf AXIS MOBILE Translation Rotation Try HEBSSE uojo T Max 488 072 lt Set Set gt 18 4538 Min and Max positions p sensor max b
72. ize the performance of 3D rendering For more information on how to use this optimization tool see Simplify 3D CAD models User Manual VIRTUAL UNIVERSE PRO V2 Page 131 EX optimize a J x Erase 3D sprites without child and with a volume lower than 10 g If possible keep the specified percentage of triangles and does not fall below 10 g 200 the specified number Name File size Triangles Volume Tryvol lt Curve roller conveyor 90 only body obj 632396 5227 753 259 6 93918 Curve roller conveyor 90 only body obj 632396 5227 753 259 6 93918 Curve roller conveyor 90 only body obj 632396 5227 753 259 6 93918 external gate external border obj 463923 1332 11 2735 118 153 external gate external border obj 463923 1332 11 2735 118 153 external gate bord2 obj 865087 1330 152 937 8 6964 external gate bord2 obj 865087 1330 152 937 8 6964 external gate bord2 obj 865087 1330 152 937 8 6964 A33660065 ENVELOPP importi _sw1f10 obj 78896 1300 39 1208 33 2304 A33660065 ENVELOPP import2 _sw1f10 obj 78896 1300 39 1208 33 2304 internal gate internal border obj 457313 1156 4 58707 252 013 internal gate internal border obj 457313 1156 4 58707 252 013 axis axes obj 115927 1134 39 5953 28 6397 axis axes obj 115927 1134 39 5953 28 6397 axis axes obj 115927 1134 39 5953 28 6397 Curve roller conveyor 30 onlybody obj 99139 1110 175 677 6 31841 Curve roller conveyor 30 onlybody obj 99139 1110 175 677 6 31841
73. l VIRTUAL UNIVERSE PRO V2 Page 107 Detailed properties of a 3D emulator The setup window provides access to the detailed properties of a 3D emulator project some of these properties are for advanced users only and are accessible by activating the Expert mode File Edition Configuration Simulation User Manual VIRTUAL UNIVERSE PRO V2 Page 108 Properties of the Universe Detailed properties of the Universe E Connection Driver None propagate states Status Stopped Last error Link quality 0 TCP server False TCP server port 6000 Minimum refresh perio 0 E Options Automatic run False Show variables and ste No Navigation mode VU Only frame False Debug physic False E Statistics Physic engine 0 Render 0 177661 Behaviors 0 Behaviors independar 0 Modifications passworc Properties properties Connection Universe properties Driver Define the connection with external software software which communicates with VIRTUAL UNIVERSE PRO The available drivers are Connexion Driver Aucun propager Aucun propager les tats SCHNEIDER M340 PLC ou SIMULATEUR wf OPC CLIENT E S ADVANTECH SIEMENS PLCSIM GATEWAY SIEMENS S7 PLC ROCKWELL Ethernet IP Ex cuteur PC AUTOMGEN IRAI AUTOMGEN Status Current status of the connection stopped external software not ready connected User Manual VIRTUAL UNIVERSE PRO V2 Page 109 Last error Last communication error Link quali
74. l VIRTUAL UNIVERSE PRO V2 Page 42 Simplify 3D CAD models The 3D models created with CAD software often have very complex 3D geometries number of triangles and small parts that are not always necessary to VIRTUAL UNIVERSE PRO 3D emulators and may instead greatly reduce graphics performance For the simplification of 3D CAD models VIRTUAL UNIVERSE PRO offers a 3D geometries optimization tool Erase 3D sprites without child and with a volume lower than r F possible keep the specified percentage of triangles and does not fall below specified number ne Removal of small 3D parts Reduction of the number of triangles Name sd File size Trin Volume Triv l FMCOO048 1 swif85 obj 773467 21190 3096 58 6 84304 AAVO0051 1 swif48 obj 715924 19386 4 35708 4449 31 AAVO0052 1 sw1f47 obj 472065 14032 1 51999 9231 67 DMOO0021 parti 1 swif159 obj 313610 9728 1409 02 6 90407 DMOO0023 1 swif92 obj 296425 8940 187 18 47 7615 DMOO0022 L350__ PA swif374 obj 154945 4871 0 339 14330 7 X AXIS MOBILE sw1f373 0bj 152564 4871 0 339 14330 7 DMOO0022 L230__ PA swif405 obj 121046 3890 0 223 17415 7 Y AXIS MOBILE swif404 obj 121026 3889 0 223 17411 2 DMOO0022 Endblock_ swif337 obj 114383 3491 0 3552 9828 25 DMOO0022 Endblock_ swif342 obj 116397 3491 0 3552 9828 27 DMOO0022 Endblock_ swif340 obj 112599 3490 0 3552 9825 45 DMOO0022 Endblock_ swif341 obj 114364 3490 0
75. lation folder egi 597 F Sgt Automatic generation of a diagram Q Virtual Universe Pro stop File Edition Configuration Simvlati Universe n r User Manual VIRTUAL UNIVERSE PRO V2 Page 192 Virtu al Universe Pro stop or 5 se T Pa er te Virtual Universe Pro stop 22 T ow te i firtual Universe Pro stop er Er ITON ERN Es 4 e gt gt gai 4 User Manual VIRTUAL UNIVERSE PRO V2 Page 193 l Virtual Universe Pro stop File Edition Configuration Simulation Virtual Universe Pro stop rren Ty 7 Fi PT Ar NW AIRE n J sa L Virtual Universe Pro stop File Edition Configuration Simulation Virtual Universe Pro stop se rt an object Sprite 3d name as displayed in the project tree Electrical endosure static AUTOMSIM variable name writting to simulation L L User Manual VIRTUAL UNIVERSE PRO V2 Page 194 T Virtual Universe Pro stop yas SS Js wa Te ei E cr ARE 3 Name __ void with electric simulation vuo _ void vuo Virtual Universe Pro stop Virtual Universe Pro stop Lee per pre PR er User Manual VIRTUAL UNIVERSE PRO V2 Page 195 Virtu al Universe Pro Bin A User Manual VIRTUAL UNIVERSE PRO V2 Page 196 User Manual VIRTUAL UNIVERSE PRO V2 Page 197 Program Simulation Sa rji tric User
76. lay a sound file only once if the behavior current value is different from 0 The 3D sound will be heard as coming from the 3D parent Sprite Moreover the behavior current value can modulate the sound volume speed This behavior allows for example to reproduce a motor noise as a function of its rotational speed ROS Play a sound loop o Same as above but the sound is played in a loop ROS None User Manual VIRTUAL UNIVERSE PRO V2 Page 152 o Default type to VIRTUAL UNIVERSE PRO represents an internal value The Behavior None is inert User Manual VIRTUAL UNIVERSE PRO V2 Page 153 Functionalities at the Behavior level VUE Universe BETA stop External links Provides access to the behavior External Links window User Manual VIRTUAL UNIVERSE PRO V2 Page 154 Properties of HMIs The menu that opens when you click the right mouse button on the world allows the creation of a HMI User Manual VIRTUAL UNIVERSE PRO V2 Page 155 Detailed properties of a HMI Horizontal position Center Vertical position Bottom Expert mode 1 3d sprite s i C byobje C by sprite s 0 behavior s asl The parameters positions are used to define where the HMI will appear in the render window settings properties are used to define the transparency of the HMI and a possible condition state behavior for display If condition contains the valid name of a behavior then the HMI will be displayed if the valu
77. le to add Boolean sensors AON sensors all or nothing returning 1 if the mechanical resource is within the detection range of the sensor and O otherwise The following example illustrates the creation of a Boolean sensor sensor max located around the maximum position which can for example model a security sensor User Manual VIRTUAL UNIVERSE PRO V2 Page 68 x Name sensor_max Type Bool Position For position sensor scaling defines value for begining and end positions Other values are extrapoled Value for begining Value for end Scaling Delete this sensor The generated behaviors are 93 Miro KO fiend regspeed EO D accstime S KO fiend decstime 23 FN Go_speed 073 fad Back speed gO4 posz Immediate position sensor 3D emulator output a ASE sensor_min Boolean sensor min 3D emulator output oe TF sensor_max Boolean sensor max 3D emulator output o A value of 1 for a Preset speed behavior activates the preset speed forcing the speed setpoint to its value o Reaspeed accstime decstime are only created if the user defines a profile of accel decel profile If no profile is defined the command part will directly write move that will be an input for the 3D emulator User Manual VIRTUAL UNIVERSE PRO V2 Page 69 Moving as a function of an immediate position This is typically the motion profile used in the case of an axis driven by a set motor variable freque
78. led on a file server and licenses can be managed by a network license manager Please contact our technical support to complete this installation contact irai com User Manual VIRTUAL UNIVERSE PRO V2 Page 10 Overview Menus and Windows When launching VIRTUAL UNIVERSE PRO an empty project is opened in the main 3D rendering window File Edition Configuration Simulation The Configuration menu provides access to the Setup window and to the project construction tools Connection E Options window 1 3d sprite s 0 behavio Expert mode byobjects by properties Run Dock User Manual VIRTUAL UNIVERSE PRO V2 Page 11 The Simulation menu provides access to the launch of the simulation and to the simulation debug tools Controllers window Logs window The Medias menu provides access to Media Manager containing the list of all the media files 3D files bitmaps used in the 3D emulator project All these files are automatically saved in the 3D emulator project file User Manual VIRTUAL UNIVERSE PRO V2 Page 12 Name Size Type Modified PE ae agn 6KB Projet 02 29 12 07 3 4E floor jpg 7KB Image JPEG 03 23 11 10 4 floor obj 2 KB Fichier OBJ 03 23 11 11 2 UntitledO mtl 1KB Fichier MTL 03 23 11 11 2 l Optimize media fles _copy al medias used i project here C2 The menu provides access to the user documentation and software information The File
79. llision Alias E Type etc Type of the behavior Test collision with o Link Initial value 0 Current value 0 Data conversion Boolean false if 0 t Internal current value 0 Alphanumric value Name s of other sprite box Write mode Normal Get value from this bet Extemal link False rnal valu 0 Behavior type see details below Link Initial value Will be copied into the current value when switching to simulation RUN mode Can be used for a permanent activation of a behavior For example a script will be executed unconditionally from the start of the simulation by setting this property to 1 Current value Current value of the Behavior s variable this value can be copied from or copied to the external software Data conversion Determines how the data is converted between the current value and the internal current value Copy no conversion Boolean false if 0 true otherwise User Manual VIRTUAL UNIVERSE PRO V2 Behaviors properties Non Boolean true if 0 false otherwise From real world To real world Internal current value Internal current value of the Behavior s variable this variable is used to drive the simulation or this value comes from the simulation Alphanumeric value Expert mode Used to store a string value Write mode Define the method of writing data to the external software Normal data is written on each exchange cycle Only when changed data is only written on
80. lt gt Linear roller conveyor 1 8m lt gt Source box 300 300 300 lt gt Source box 400 200 250 ii gt Source box 300 300 300 User Manual VIRTUAL UNIVERSE PRO V2 ROCKWELL Ethernet IF Stopped 192 168 56 3 0 pe LI D Page 91 LEK file Test and debug a 3D emulator Launch simulation To start the simulation select Simulation in the menu bar and then Run File Edition Configuration Simulation Simulation messages During simulation a simulation diagnosis is carried out continuously If a problem warning or fatal error occurs at startup or during simulation design error in the 3D emulator communication problem with the external software controller a message window opens with the list of identified problems User Manual VIRTUAL UNIVERSE PRO V2 Page 92 01 45 12 System Cannot connect server not found 4 El Clear Here is the meaning of colors Light blue normal operation of the simulation Orange warning design error in the 3D emulator EEE fatal error script failure connection problem A second window also opens in parallel prompting the user to stop the simulation to correct the problem or to continue with the simulation Virtual Universe Error found stop the simulation Select Yes to stop the simulation or No to continue At any time during simulation the user can access the logs window in the Simulation Debug Logs menu User
81. ly available for x files User Manual VIRTUAL UNIVERSE PRO V2 Page 127 Functionalities at the Sprite level Fle Edition Configuration Simulation Add Delete Duplicate Export Tr Y F F F F Cut Copy Paste External links Show Hide Optimize Open the object Ait to view Add Add a new 3D Sprite Light Camera or behavior as a child of the 3D Sprite Delete Delete the 3D Sprite ability to delete a group of 3D Sprite with This 3d sprite and the next Duplicate Online or chained duplication of 3D resources Associated with the Magnetic function this option is particularly useful for the construction of a conveyor line Export Export a Sprite with eventual behavior and children as a VIRTUAL UNIVERSE PRO reusable object vuo file just like a smart 3D resource By default VIRTUAL UNIVERSE PRO proposes to save this object in the VIRTUAL UNIVERSE PRO library directory but it is possible to select another location on the computer lt is also possible to export only the children s behavior of the selected sprite Import User Manual VIRTUAL UNIVERSE PRO V2 Page 128 An object Import a VIRTUAL UNIVERSE PRO object VUO file in the 3D emulator project A VIRTUAL UNIVERSE PRO object is a simulation resource that is to be reused in a 3D emulator project An object may be limited to a simple sprite or behavior or may represent a more complex smart 3D resource assemblies
82. mbination product of the coefficients of object A and object B Penetrate If true the 3D Sprite will penetrate other 3D sprites In the case of objects linked by joints see below collisions are automatically disabled Physic joint with parent Joint Define a joint with the parent of the 3D Sprite The 3D Sprite must use physic and have a non zero mass Hinge Slider Ball and socket User Manual VIRTUAL UNIVERSE PRO V2 Page 126 Hinge and slider Pulley Nvidia Physx only Fix Pivot joint position or anchor position Origin of the pivot or anchor solution Line of action Line of action of the Joint slide translation axis and pivot rotation axis Limits Minimum and Maximum positions for the joint Limits are disabled if min limit max limit Joint power Power rigidity of the joint Joint force N Expert mode Force supported by the joint Break joint force N Expert mode If joint force is greater than this value the joint is breaks Pivot joint position or anchor position parent or other objects Origin of the pivot or anchor position Pulley Expert mode Options for the creation of a pulley Billboard Expert mode 2D graphic file displayed in the 3D world Liquid effect Expert mode Simulate a liquid effect Particles Expert mode Display particles simulates small moving objects water fire Animation Expert mode Manage the animation defined in a 3D file on
83. menu lets you create a new project open an existing project save and close a project This menu also provides access to the generation of standalone 3D emulators executable files called players and to the licenses registration The Edition menu allows you to undo or redo changes made in the current project Example For getting familiar with the various menus and windows of VIRTUAL UNIVERSE PRO a simulation project example is available in the menu File Open Open a sample FA Be Linear belt conveyor Im ER Linear belt conveyor 3m FA E Lineer belt conveyor Im HS Linear roller conveyor 1 8m FR Linear roller conveyor 1 8m F E Linear roller conveyor 1 8m H Source box 300 300 300 H gt Source box 400 200 250 F Source box 300 300 300 E Be Sorting station SA Linear roller conveyor 1 8m gt Linear roller conveyor 1 8m HR Linear roller conveyor 1 8m FH gt Linear belt conveyor 15m HH Curve roller conveyor 30 FH Linear roller conveyor 1 8m MB Curve roller conveyor 90 HR Curve roller conveyor 90 H Be Linear roller conveyor 1 8m H a Curve roller conveyor 30 gt Curve rober conveyor 90 FH Linear roller conveyor 1 8m T Bpert mode brobjects C by proporties User Manual VIRTUAL UNIVERSE PRO V2 Page 13 Navigation and interactions By default navigation in the 3D world and interactions with 3D objects during simulation are done with the mouse L y y _ mouse or rotating wheel translation
84. n the VIRTUAL UNIVERSE PRO resource library The Main behavior script is used to control the drawer retraction release by writing the move behavior based on an input order coming from the pusher behavior It also returns the drawer current position pusher home position and pusher out position external variables gt Electrical pusher iM A33660061 CHASSIS PRINCIPAL 1 A33660065 ENVELOPPE RATEAU 1 5 Ko pusher pusher home position pusher out position Main behavior 6 CAPOT AVANT 1 CAPOT LATERAL 1 CAPOT LATERAL 2 Main behavior myloop curpos GetValSprite3d POSX if getbehavior pusher currentvalue true or getbehavior T A33660068 CAPOT DESSUS 1 clic currentvalue true then setbehavior move values 1 else setbehavior move values 0 endif if curpos gt 5 then setbehavior pusher home position values 1 else setbehavior pusher home position values 0 endif if curpos lt 1 2 then setbehavior pusher out position values 1 else setbehavior pusher out position values O endif goto myloop User Manual VIRTUAL UNIVERSE PRO V2 Example 2 Case of the Linear belt conveyor resource available in the VIRTUAL UNIVERSE PRO resource library The Main behavior script manages the conveyor belt speed by writing the speed behavior based on an order coming from the two inputs linear belt conveyor spee
85. ncy drive receiving position setpoints from an axis controller external to the 3D emulator DM000022 MoAd_PLE60X PA gt DM000022 Vis_t_te_cylindr gt DMOO0022 Vis__t te_cylindr 1 lt gt DMOO0022 Vis___t_te_cylindr gt DM000022 Vis__t_te_cylindi gt DMOO0022 L350__PAS42_B gt DMO00022 Gummipuffer_SBC 2 w DMOO0022 Gummipuffer_SBC DM000022 Gummipuffer_SBC S DM000022 Gummipuffer_SBC gt DMOO0022 Schaltwinkel_1170 S DMOO0022 MAXR22 S2 H2 First select in the project tree the mobile part of the mechanical resource that you wish to set in motion hen click the green tab Motion assistant to the left of the tree he Motion assistant window appears on screen User Manual VIRTUAL UNIVERSE PRO V2 Page 70 Min and Max positions Command type Immediate position sensor num 490 490 lt lt 20 20 gt tsa ie ast Tas Boolean sensor Min Boolean sensor Max Set the Min and Max stops either manually or by moving the resource directly in the rendering window these stops will not be reached by the resource Select the command type direct or relative User Manual VIRTUAL UNIVERSE PRO V2 Page 71 Move command type position x Direct position command Behavior value defines position The value of the behavior between the two values Begin and End selected below Relative position command defines the position between min and m
86. nfiguration Simulation Virtual Universe BETA stop Material Handing Sys x Demo library Handling systems The VIRTUAL UNIVERSE PRO library is stored in the library folder itself located in the VIRTUAL UNIVERSE PRO Industry installation directory VIRTUAL UNIVERSE PRO Industry VUI 1 113 library User Manual VIRTUAL UNIVERSE PRO V2 Page 78 Import a smart resource from library For accessing to a 3D resource already available in the library click on the blue tab Library on the left of the set up window A browser will open allowing you to access all 3D resources available in the library Options Expert mode 1 3d sprite s 0 behavior s i by objects by properties Run Dock ZA In the library select the resource to add to the project and drag and drop it from the library onto the 3D rendering window User Manual VIRTUAL UNIVERSE PRO V2 Page 79 File Edition Configuration Simulation Virtual Universe BETA stop E X Demo library Conveyors Belt conveyors j Name Size Type Modified __ Linear belt conveyor 1m v 17 KB Fich i Linear belt conveyor 2m v o gt 03 15 12 02 5 Linear belt conveyor 4m v i 03 15 12 02 3 Li m V i 03 15 12 02 3 yor VUO 17 KB Fichier VUO 03 15 12 02 3 The 3D resource is immediately added to the project and visible in the project tree LE 9 3d sprite s 7 behavior s by objects b
87. ode T a Mouse wheel pressed moving mouse or rotating wheel WAV translation Mouse wheel zoom IN Left mouse button click actions Right mouse button pressed moving mouse rotation Left mouse button click and drag grab object It is possible to use another method of navigation called IRIS3D available in the properties of the universe This method of navigation uses arrow buttons to move around and zoom in the 3D world In this mode the mouse navigation is still possible User Manual VIRTUAL UNIVERSE PRO V2 Page 30 File Edition Configuration Simulation a Connection E Options _ Automatic run False Navigation mode IRIS3D Debug physic False Finally it is possible to adjust the move and zoom coefficients in order to move or zoom faster or slower inside the 3D rendering whatever the method used for navigation VU or IRIS3D These coefficients are specific to the camera and are accessible in its properties File Edition Configuration Simulation E Name Name Location Current location Limits E Options Fixed False Rotate with parent False Activated when start False Zoom coefficient 0 1 Move coefficient 0 5 User Manual VIRTUAL UNIVERSE PRO V2 Page 31 Simulation options By default at the opening the simulation in VIRTUAL UNIVERSE PRO is in STOP mode The launch of the simulation switch to RUN mode is obtained at any time by pres
88. oftware enabling to quickly create an interactive 3D emulation of automated systems or virtual machines by reusing and leveraging 3D CAD models With the VIRTUAL UNIVERSE PRO emulators designers of industrial equipments and automated systems can experiment with their products in a realistic interactive virtual 3D environment and emulate equipment behavior in real time By connecting the 3D emulators with external controllers such as PLCs Programmable Logic Controllers or with embedded virtual controllers VIRTUAL UNIVERSE PRO reproduces the real world working conditions of a product or machine in a fully virtual environment User Manual VIRTUAL UNIVERSE PRO V2 Page 5 Installation Hardware requirements VIRTUAL UNIVERSE PRO runs on the following Windows operating systems Windows XP Windows Vista and Windows 7 For Windows XP it is necessary to use DirectX 9 or a newer version of Direct X VIRTUAL UNIVERSE PRO is a native Windows 32 bit software and is Windows 64 bit compatible For taking full advantage of its performance especillay during simulation it is strongly recommended to use VIRTUAL UNIVERSE PRO on a modern computer with a good graphics card and a powerful processor The refresh rate of 3D rendering is directly linked to the graphics card performance The accuracy of the simulation realism of the simulated phenomena mostly depends on the computer CPU performance Software installation For installing
89. on 1 000000 1 00000 Main behavior 1 000000 1 000000 position X 1 200000 1 200000 User Manual VIRTUAL UNIVERSE PRO V2 Page 61 Define motion profiles with the Motion Assistant The Motion Assistant enables to easily define the motion profiles of a 3D mechanical resource or system by creating and adjusting automatically the behaviors needed for simulation of these motion profiles A mechanical resource can be for instance a cylinder or an axis driven by a set motor variable frequency drive The Motion Assistant enables as appropriate to control a resource in different ways Intime In speed In position User Manual VIRTUAL UNIVERSE PRO V2 Page 62 Moving as a function of time This is typically the motion profile used in the case of a cylinder driven in time by an external controller File Edition Configuration Simulation Pa D o3 EAN D F05 D o6 D r07 D Fos First select in the project tree the mobile part of the mechanical resource that you wish to set in motion this is the cylinder rod in the example above hen click the green tab Motion assistant to the left of the tree he Motion assistant window appears on screen User Manual VIRTUAL UNIVERSE PRO V2 Page 63 Virtual Universe BETA stop Cylinder x CYLINDER MOBILE Translation Rotation Move Time Speed Position fo lt Set Set gt 440 Min and Max positions E
90. on performs a mathematical calculation between the states of the two inputs and writes the result to the state of the output g comparison compares the states of the two inputs and writes the boolean result false or true in the state of the output F SFC initial steps transition y SCF step transition Fr User Manual VIRTUAL UNIVERSE PRO V2 Page 181 SFC Step transition blocks have a green connection to connect the condition of the transition and a red connection to connect to a possible action Divergence convergence in AND and OR Clicking the right mouse button on a selected step step should be the only one selected a context menu allows you to set the number of branches for the convergences or divergences in AND or OR 1 LE CT COS e y Cece amp Delete Bel Copy Ctl c Cut Ctri K Number of branches of OR convergence above the step Number of branches of OR divergence below the step w 1 no convergence Number of branches of AND convergence above the step Number of branches of AND divergence below the step ra T F Program zone Drage items User Manual VIRTUAL UNIVERSE PRO V2 Page 182 User Manual VIRTUAL UNIVERSE PRO V2 Page 183 Encapsulation The block encapsulates a part of a program This block has one input whose state determines the execution of blocks in the encapsulation The size of this block is editable by clicking the left mouse button on the black squares ar
91. ontroller local variables list i AH d H in the program z Li variable names Ra fers zone dick on left margin to select networks left button or to insert delete networks right above to the User Manual VIRTUAL UNIVERSE PRO V2 Page 167 Common elements All languages use three types of variables Behavior behavioral state of the project to reference a behavior a full path or a relative can be used A full path gives starting from the world the name of a parent sprite or a light For example floor robot engine behavior engine child of the sprite robot itself child of the sprite floor Relative paths used in the case of a child controller specifies a sprite path from that sprite For example engine behavior engine child of the sprite which is the parent of the controller Using relative paths can create a group sprite s controller s duplicable Moreover the check box Show variable names with full path allows to view or not a short format without the full path for the variable names making it more concise programs display Local variables variables local to each controller and common to all pages of the same controller local variables are initialized to 0 at the transition to RUN System variables BLINK500MS variable that changes state false true each 500MS typically used to make lights blinking FIRSTCYCLE true for the first execution cycle of the program then false Ty
92. ool 15 lt lt 19 Boolean sensor Min SS e ce Command type MM NI INININ INIST 22 a Immediate position sensor posz num 490 490 lt lt 20 20 sensor_min bool 489 lt lt 485 Boolean sensor Max Set the Min and Max stops either manually or by moving the resource directly in the rendering window these stops will not be reached by the resource Select the command type direct or relative Select the option Use an acceleration deceleration profile to reach a position and define the profile parameters User Manual VIRTUAL UNIVERSE PRO V2 Page 75 Move command type position x Behavior value defines position The value of the behavior between the two values Begin and End selected below defines the position between min and max Begin 0 End a c iv Use an acceleration deceleration profile to reach a position with the parameters defined bellow Reach immediately the position if unchecked Maximum speed in measurement unities s degrees s for rotations 100 Time to reach maximum speed in seconds acceleration 1 Time to reach null speed in seconds deceleration 1 ae x The addition of an immediate position sensor returning directly the resource position along the motion axis constitutes a position feedback The following image illustrates the creation of such a sensor posz For position sensor scaling defines value for begining and end posi
93. or 1 8m Linear roller conveyor 1 8m FR Source box 300 300 300 ER Source box 400 200 250 HR Source box 300 300 300 H Re Sorting station Linear roller conveyor 1 8m P m Linear roller conveyor 1 8m F gt Linear roler conveyor 1 8m gt Scanner sensor MR Scanner sensor FH Linear belt conveyor MR Linear belt conveyor gt Transport line gt Linear belt conveyor 15m Re Curve roller conveyor 30 Linear roller conveyor 1 8m MR Curve roller conveyor 90 Curve roller conveyor 90 ER Linear roller conveyor 1 8m Curve roller conveyor 30 F Re Curve roller conveyor 90 4 gt Linear roller conveyor 1 8m I Expert mode by objects C by properties User Manual VIRTUAL UNIVERSE PRO V2 Page 15 Main steps for building a 3D emulator VIRTUAL UNIVERSE PRO enables to build interactive automated system 3D emulators or virtual machines composed of a 3D virtual system controlled by one or more controllers internal or external to the 3D emulator The 3D models are imported from CAD software into VIRTUAL UNIVERSE PRO to create the 3D resources composed of 3D objects called sprites and assemblies of 3D resources which will constitute the elements of the 3D virtual machine Adding behaviors to the sprites brings a real intelligence to 3D resources and enables to model the behavior of resources such as actuators and sensors of the virtual system Behaviors are either predefined behaviors av
94. or may reduce the graphics performances fle Edon Configuration Srmastion F agi aN User Manual VIRTUAL UNIVERSE PRO V2 Page 100 Measure the physics engine performances It may be useful to know how to measure and optimize performances of the VIRTUAL UNIVERSE PRO physics engine particularly for 3D emulators which require the simulation of many physical phenomena gravity of bodies friction collisions The VIRTUAL UNIVERSE PRO physics engine performances directly influence the realism of the simulated physical phenomena The physics engine performances are expressed in number of physics engine calculation per second CPS In VIRTUAL UNIVERSE PRO this information is constantly displayed in the lower left of the 3D rendering window Fichier Edition Configuration Simulation The physics performances of a 3D emulator strongly depend on the following factors The processor CPU performance of the computer used to run the 3D emulator The number and shape of 3D objects used by the physics engine during simulation It is considered that the physics performances of a 3D emulator are good when the number of physics calculations during simulation is still greater than 100 CPS 100 calculations per second User Manual VIRTUAL UNIVERSE PRO V2 Page 101 Optimize the physics engine performances Computer CPU To achieve good physics performances in the VIRTUAL UNIVERSE PRO 3D emulators it is strongly recommended
95. ort User Manual VIRTUAL UNIVERSE PRO V2 Page 129 A 3D text Add a 3D sprite in a text shape External links Open the External Links window listing all behaviors defined as External links at the selected sripte level User Manual VIRTUAL UNIVERSE PRO V2 Page 130 External links x Inputs E Sorting station Scanner sensor scanner zone scanner sensor Alias Data conversion Copy no conversion E Sorting station Scanner sensor scanner zone scanner sensor Alias Data conversion Copy no conversion amp Sorting station Electrical pusher A33660065 ENVELOPPE RATEAU 1 p Alias Data conversion Copy no conversion E Sorting station Electrical pusher A33660065 ENVELOPPE RATEAU 1 p Yv E Input station Linear belt conveyor 3m conveyor motor finear belt conv Data conversion Copy no conversion E Input station Linear belt conveyor 3m conveyor motor linear belt conv Alias Data conversion Copy no conversion E Input station Linear belt conveyor 3m conveyor motor linear belt conv Alias Data conversion Copy no conversion E Input station Linear belt conveyor 3m conveyor motor finear belt conv Alias Show Hide Show hide or exclude a 3D resource from the 3D rendering windows Optimize Provides access to the geometries optimization tool of VIRTUAL UNIVERSE PRO enabling user to simplify the 3D geometry of the selected Sprites including its children Simplifying the 3D geometries enables to optim
96. ound him let the left mouse button pressed move the cursor to change the size and release the left button If one or more blocks or SFCs is in the encapsulation their evolutions are frozen if the state of the encapsulation block input is false Example 10 000s AJ O E N RUN mode In RUN mode the status of programs are displayed and the status of local variables in the list in the left area Controller Ladder Awlays execute big box phase 0 Controller local variables list double cick on Variables names to modify current value start button phase 0 4 phase 0 Conveyor 2 Rotates rollers sens 1 il big box R i phase 0 a switch on off orange light 1 4 phase 0 Conveyor 2 sensor _ _41 lt 1 phase 0 2 5 phase o Conveyor 2 Rollers brake Conveyor 1 Rotates rollers sens 1 fe ma Double click on the name of a local variable can change its state Right click reverses the state considering the variable as a boolean variable User Manual VIRTUAL UNIVERSE PRO V2 Page 185 Controller E xj Ge 1 start button D ay D big box Conveyor 2 Rotates rollers sens 1 Conveyor 2 Rollers brake i 2 000s L Conveyor 1 Rollers brake Controller local variables list double dick on perse 74 Backward sensor variables names to modify current value LE ra a Conveyor Switch Rotates rolle
97. pically used to perform initialization This variable is true only if the page is executed to transition to RUN not conditioned by a false condition in the transition to RUN ELLAPSEDTIME time elapsed since the last scan in seconds All these variables are real numeric types of 8 bytes By convention for processing Boolean they are considered false if equal to O and true if not equal to O User Manual VIRTUAL UNIVERSE PRO V2 Page 168 Ladder language Programs creation Controller Edit Page 1 Ladder Awlays execute Local variable Name of the behavior or na Loci Properites of item E sla se da Program zone dick on left margin to select networks left button or to insert delete networks right in the program zone Drage items button above to the Items added reference behaviors by default re Cancel RUN The creation of the program is done by dragging the items to the programming area The first element that can be deposited is one of the coils available A new local variable is automatically associated with each new item created Contacts can then be deposited to form a network Controller Page 1 Ladder Awlays execute User Manual VIRTUAL UNIVERSE PRO V2 Page 169 Only simple networks can be created if more complex networks are needed they must be broken down into simple networks using local variables Example Lo Pou 0 Ly 4 e Loc Loc Locs K K lt
98. pusher i i dut lt A33660061 CHASSIS PRINCIPAL 1 a lt gt A33660065 ENVELOPPE RATEAU 1 D move pusher pusher home position pusher out position Main behavior E A33660068 CAPOT DESSUS 1 EAR TE clic Example 2 Take a look at the Detection sensor resource available in the VIRTUAL UNIVERSE PRO demo library PEE EEE eee _ TE test collision _ T detection sensor asser TF Main behavior Exercise The purpose of this short exercise is to add a new behavior to a 3D resource of the library Electrical Pusher and to modify its main script to include this new behavior User Manual VIRTUAL UNIVERSE PRO V2 Page 56 1 Open a void project and switch to the resources library window Expert mode oe ee 1 3d sprite s 0 behavior s 2 From the library insert the Electrical Pusher resource inside the project by slipping it with the mouse File Edition Configuration Simulation Modified 50 KB Fichier VUO 03 10 12 12 5 3 Get back to the set up window and launch the simulation During simulation click on the top cover with the mouse to exit enter the drawer Watch the evolution of behaviors User Manual VIRTUAL UNIVERSE PRO V2 Page 57 aaa move 1 000000 1 000000 nr pusher 0 000000 0 000000 pre goa pusher home position 0 000000 0 000000 aan pusher out position 1 000000 1 000000 Main behavior 1 000000 1 000000 by C
99. r te MyPLC TM238LFDC24D7 Availablevariables Refresh Selected variables 3 H PLCLogic G m premem G Variables gt Le Variables 2 POU PRG ji Bl IoConfig_Application_ Mappings l B POU TA ai a 2 IoConfig_Globals arrival_conveyor_brake 500 Hy TA departure_conveyor 7 E pou arrival_conveyor_forward 500 ay at arrival_conveyor_brake 500 mA Data Types hy step3bis Fa Step7_active EA Step3_active at Trans0 li Trans1 EF Trans2 O Trans3 E gt Trans4 EF Transs ma symbol configuration pe Task Configuration mast Fonctions int gr es 10 10 iT HSC HSC Li PTO_PWM PTO_PWM Roatan alle S __ ___ _ _ H S Lignes rie1 Lignes rie2 Changed symbol configuration will be transferred with the next download or online change CAN arrival_conveyor_ forward 500 arrival_conveyor_green_light 50 arrival_ sensor 500 before_switch_high_sensor 500 before_switch_low_sensor 5001 bigbox 500 big_box 500 BLINK1 SLI BLINK2 AJK departure_sensor_badward 500 departure_sensor_forward 500 ftrig1 F RIG User Manual VIRTUAL UNIVERSE PRO V2 Page 206 Then close the Symbol configuration windows rebuild the application and download it to the PLC The syntax to use for referencing m238 PLC variables in Virtual Universe Pro is as following lt application name gt lt POU name or GVL for global variables gt lt variable n
100. r Manual VIRTUAL UNIVERSE PRO V2 Page 39 Import Inventor models This method requires Autodesk Inventor opened simultaneously with VIRTUAL UNIVERSE PRO on the same computer fl CAES ir D pileurZiam Assemble Design Model Inspect Tools Manage View Environments Vault Get Started 39 pattem g Replace Bic fl Op Grip Sna amp ge atten g ce iCopy ae 2 p fbg Move Constrain Assemble 7 Virtual Universe BETA stop BB Copy K Make Layout EE Miror fh Shrinkwrap Place Create First open the full 3D data in Autodesk Inventor J D pileur2iam Design Model Inspect Tool Manage Vi Environments Vault Get Started e as 95 Pattern a Replace 99 iCopy a te ER te m GC E XW S k6 Copy Make Layout Move Place Create 88 by Constrain Assemble Bill of Parameters Create Plane Cable and Tube and Convert to GIB Mirror Shrinkwrap Materials 7 Substitutes Component iti Manage Th D pileur2 iam K 3rd Party Representations Origin R Plaque 2 o Equerre 2 Corps v rin 2 i Ecrou 2 o Tige 2 a Plaque 3 o Plaque 4 fi Plaque 16 a Plaque 17 a Plaque 18 fi Plaque 19 o Plaque 20 ff Plaque 21 In VIRTUAL UNIVERSE PRO open the set up window User Manual VIRTUAL UNIVERSE PRO V2 Page 40 File Edition Configuration Simulation FI E Connection Options oe 1 3d sprite s 0 behavior s byobjects by proper
101. r place Connect to a network license Disconnect tram the network license User Manual VIRTUAL UNIVERSE PRO V2 Page 7 Click on Save the user code in a file and save this file on your computer Enter or change a protection ou are about to save or change your user license after requesting authonzation to use the information ii necessary our user code must be provided to IRA which will then send you a validation code The following information must be provided your complete address and telephone number and order reference or delwery note if required User code careful O is ZERO and 0 is the letter KIHKL ETE NPCS LE EORSG FCRGP IS1P83 cLss1 FOMU4 Pac yo oe Faste a validation code Obtain amp new irom the user code clipboard Read a Copy the user validation code code to the from a file clipboard Save the user in a file eldatan code D 0 PS RS PS RS _ Cancel Then send this file by email to the following address contact irai com You will receive by email a new file containing a validation code to register by clicking the button Read a validation code from a file You can also directly enter the validation code in the Validation Code field Then you will click Validate to validate the license You have 20 days between the generation of a user code and the input of the validation code User Manual VIRTUAL UNIVERSE PRO V2 Page 8 Register a security cod
102. rallel with the other engines and does not affect the smooth operation of the simulation By default this engine is running at full capacity in order to maximize graphics performance of the 3D emulator refresh rate of 3D rendering However it is possible to set a maximum value for the refresh rate in order to avoid consuming unnecessarily the computer resources At any time it is possible to know the current refresh rate of 3D rendering of the 3D emulator by reading the FPS Frame Per Second metric visible at the lower left of the 3D rendering window For the modeling and simulation of physical phenomena applied to sprites gravity friction collisions forces two physics simulation engines can be used in VIRTUAL UNIVERSE PRO Newton Physic default engine and NVIDIA Physx The use of the physics engine is not systematic neither mandatory Only the sprites with the property Use physics checked are exposed to the physics engine By default the physics engine is running at full capacity in VIRTUAL UNIVERSE PRO in a separate thread with a variable sampling rate to get the best realism of the simulated physical phenomena At any time it is possible to know the current computation speed of the physics engine by reading the CPS Computation Per Second metric visible at the lower left of the 3D rendering window User Manual VIRTUAL UNIVERSE PRO V2 Page 23 For enabling the VIRTUAL UNIVERSE PRO 3D emulators to communicate in real
103. rce Displacement Test Properties Code yo Other Move on Xx Move on Y Move on Z Rotate on X Rotate on Y Rotate on Z Attach colliding objects Freeze Put far KOA His Move on X o Move the sprite in translation relative to the axis X of the parent sprite local frame local frame The property Move and rotate mode lets you choose the drive mode for this displacement Time Speed Position Speed is in meters sec or mm s depending on the units selected in the properties of the world Important This behavior does not rely on the VIRTUAL UNIVERSE PRO ohysics engine However the Physics option can be enabled on the sprite to take into account the potential collisions of this sprite with other sprites Example The behavior Move on X in control mode Time is used in the electrical pusher Electrical pusher present library to control the drawer return release fF 2 Move on Y User Manual VIRTUAL UNIVERSE PRO V2 Page 138 o Move the sprite in translation relative to the axis X of the parent sprite local frame local frame The property Move and rotate mode lets you choose the drive mode for this displacement Time Speed Position Speed is in meters sec or mm s depending on the units selected in the properties of the world Important This behavior does not rely on the VIRTUAL UNIVERSE PRO physics engine However the Physics option can be enabled on the sprite to take into account
104. reduce graphics performance For the simplification of 3D CAD models VIRTUAL UNIVERSE PRO offers a 3D geometries optimization tool For more information about usage of the 3D geometry optimization tool see Simplify 3D CAD models User Manual VIRTUAL UNIVERSE PRO V2 Page 98 Optimize User Manual VIRTUAL UNIVERSE PRO V2 sw1f85 obj 773467 sw1f48 obj 715924 sw1f47 obj 472065 sw1f159 obj 313610 sw1f92 obj 296425 swif374 obj 154945 sw1f373 0bj 152564 Sw1f405 0bj 121046 sw1f404 obj 121026 sw1f337 obj 114383 sw1f342 obj 116397 sw1f340 obj 112599 sw1f341 0bj 114364 sw1f338 0bj 112561 sw1f339 obj 114390 swif151 0bj 87525 sw1f153 obj 86803 1 ini d A 74 A0 i 6 84304 4449 31 9231 67 6 90407 47 7615 14330 7 14330 7 17415 7 17411 2 9828 27 9825 45 9825 45 9825 43 9825 45 4744 29 4744 3 Page 99 Opening the set up window When opened the set up window can significantly reduce the graphics refresh rate during simulation During simulation when possible it is recommended to keep this set up window closed Another possibility is to use a second screen to open the set up window and Debug window in order to keep only the 3D rendering window opened on the first screen Thus the graphics performances of the 3D emulator during simulation are not reduced Set up window 3D rendering window Use of multiple cameras The use of multiple cameras in a 3D emulat
105. rk comment E s7 proc o2082012 121456PR 2E CPU Control Center oo o L 21065 w 1 T W 0 5 2 L 18753 3 T MW 2 The exchange area is arbitrary localized from MWO STEP7 variable The following program lines L 21065 T MWO L 18753 T MW2 write the 4 characters RIIA in the STEP7 words MWO and MW2 In the following case STEP7 language these 2 words are mapped to 4 consecutive bytes in memory This initialization is made only one time at program startup use of OB100 STEP7 block 3 copy from and to the exchange area Our sample use 5 digital inputs and 15 digital outputs Arbitrary inputs 10 0 to 10 4 and outputs Q0 0 to Q0 14 are used User Manual VIRTUAL UNIVERSE PRO V2 Page 219 The code for copying variables is as following SPS WS7 CC AUTOMGEN V7 IRISSD VIRTUAL UNIVERS IRIS3D BIN DEMO EXAMP U0 temp T UBT EY CLASS BYTE 1 0 temp T OET SCAN 7 EYTE 2 0 temp T 0B1_PRIORITY EYTE 4 7 are T 04 QD HILIMDD DTE J d Cyelie main program Block comment M 57 PROG 02082012 121456 PRI B For convenience and for this example the variables are copied by group of 16 The MW4 STEP7 word matches the inputs MW6 STEP7 word matches the outputs Summary of the use of the PLC emulator memory Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 R 52 49 49 A 41 aid o sh Echange word 0 Exhange word 1 Exhange word 2 Exhange word 3 Inputs STEP7 Outputs STEP7 IWO QWO
106. rk path to the controller Delete Scan metwork User Manual VIRTUAL UNIVERSE PRO V2 Page 205 The variables of the Somachine project which must be read or written by Virtual Universe Pro have to be added in a Symbol Configuration item ff conveyor project SoMachine Home Properties Configuration Co File Edit View Project FBD LD IL Build Online Debug Watch Tools Window Help a Ble Bmx 516 ar Oe eS IL ul ui PE EE co u GE TIF E EIFS le Bow tH E Devices RE MAST E POU hi _step3bis z Trans4 Transi fg Trans conveyor 1 LD True S e MyPLC TM238LFDC24D7 ST Trans2 S E PLCLogic a Add Device ES Data Log Manager Insert Device Scan For Devices ms C3 Add Folder amp Fonctions il Edit Object ih 1000 Me T Persistent Variables Ligne s rie di POU for implicit checks H S Lignes rie CAN Restore data from CSV file Save data to CSV file i Visualization Visualization Manager select the application variables and copy them to the right area amp conveyor project SoMachine Home Properties Configuration Program Commissioning Report File Edit View Project Build Online Debug Watch Tools Window Help a EFEN B la DR o Lelo a mil step3bis E Trans2 Configuration de t che faction step2 Trans5 zA Step3_active S conveyo
107. rs sens 1 i PA a opal fo gt frre Sop g pt g iP Conveyor Switch Rotates rollers sens 2 Forward sensor 1 000s L gH aa 1 000s 1 000s E Conveyor Switch Rollers brake Access to the pages of the controller program is possible in the configuration window or menu Simulation Debug Program Simulation if simulation Menu is enabled in the controller properties User Manual VIRTUAL UNIVERSE PRO V2 Page 186 Diagrams simulation The diagrams editor integrated to Virtual Universe Pro allows to create and simulate electric pneumatic hydraulic and digital electronic diagrams linked to 3D items The behaviors called read from AUTOMSIM and write to AUTOSIM permit to read or write a stat from or to a simulation folder x Force and torque Speed Resource Displacement Test Properties Code and simulation I O Other User Manual VIRTUAL UNIVERSE PRO V2 Page 187 Example of an electric enclosure associated to a diagram TI Virtual Universe Pro stop Electrical simulation vu Ioj x File Edition Configuration Simulation DISPLAY 1401 FPS Program Simulation ectric simulation Emergency Button H g 4 G A a F Q9 E Test Short Circuit Switch a Num IRAI 241352 User Manual VIRTUAL UNIVERSE PRO V2 Page 188 Creation of a simulation folder JI Virtual Universe Pro stop IEP D SRE Behavior i
108. s click right mouse on an item and choose in the menu Delete Del Copy Crl c Cut cCtrl x User Manual VIRTUAL UNIVERSE PRO V2 Page 179 Remarks Links connected to a deleted item are also deleted Links connected to two elements copied are also copied Paste an item click right mouse on an empty area of programming and choose Paste from the menu User Manual VIRTUAL UNIVERSE PRO V2 Page 180 Items list gt or a constant 2 Ch input input signal associated to a variable reading of the state of a variable Output output signal associated to a variable writing of the state of a variable logical not boolean function the output signal is the negation of the input signal g logical AND boolean function the output signal is a boolean AND between the 2 input signals H logical OR boolean function the output signal is a boolean OR between the 2 input signals m raising edge the output signal is true during one program execution cycle when the input signal is changing from state false to true E falling edge the output signal is true during one program execution cycle when the input signal is changing from state true to false H timer the output signal is true after a delay This delay is defined in seconds unity in the item properties assignment if the bottom input is true the state of the top input is copied to the state of the output otherwise the output state stays unchanged calculati
109. sing the RUN button File Edition Configuration Simulation El ia Universe Expert mode by objects by properties It is possible to automatically run the simulation at the opening of the VIRTUAL UNIVERSE PRO project by selecting Automatic Run in the properties of the Universe File Edition Configuration Simulation Connection El Options Automatic run True Navigation mode VU Run mode will be set when loading the project file Shift key pressed Expert mode 1 3d sprite s 0 behavior s e by objects by properties Run Dock AA User Manual VIRTUAL UNIVERSE PRO V2 Page 32 In the default project opened by default VIRTUAL UNIVERSE PRO is not connected to any external software controller To connect the VIRTUAL UNIVERSE PRO 3D emulator to an external software controller it is necessary to select a driver in the properties of the universe The launch of the simulation switch to RUN mode a dialog will be established between VIRTUAL UNIVERSE PRO and the external controller VIRTUAL UNIVERSE PRO is compatible with most major brands of Programmable Logic Controller and offers several types of drivers for different PLC communication protocols File Edition Configuration Simulation Universe A Connection Driver SIEMENS 7 PLC None propagate states SCHNEIDER M340 PLC or SIMU J OPC CLIENT ADVANTECH 1 0 SIEMENS PLCSIM GATEWAY SIEMENS 57 PLC ROCKWELL Etherne
110. t IP AUTOMGEN PC executor Y Once the Driver is selected the settings of the connection IP address of the PLC OPC server name CPU position on the rack are available in the Driver tab File Edition Configuration Simulation ia Universe E Connection D 3 World Driver SIEMENS 57 PLC Status Stopped Last error Link quality g 57 IP address 192 168 56 3 CPU position 0 eee eee eee eee eee eee In Expert mode and for advanced users it is possible to change the physics engine for simulation In the Properties in the World it is possible to choose the Nvidia Physix engine in place of Newton Physics engine used by default User Manual VIRTUAL UNIVERSE PRO V2 Page 33 User Manual VIRTUAL UNIVERSE PRO V2 Page 34 Import and simplify 3D CAD models Import 3D CAD models VIRTUAL UNIVERSE PRO allows the reuse of 3D CAD Computer Aided Design models by a direct import of these data from their native CAD software or indirectly through an exchange file Here are the types of 3D CAD data that can be imported and reused today in VIRTUAL UNIVERSE PRO Exchange file indirect import CAD Software DS SolidWorks 3DXml Autodesk Inventor DS Delmia DS Catia User Manual VIRTUAL UNIVERSE PRO V2 Page 35 Import SolidWorks models With this importation method the SolidWorks data is first exported and saved as a 3DXML file This file is next imported into VIRTUAL UNIVERSE PRO
111. t of basic 3D shapes that can be reused in a 3D emulator project The basic object files are located in the library Primitive folder in the VIRTUAL UNIVERSE PRO Industry installation directory From SolidWorks Provides access to the SolidWorks data import tool For more information on how to import 3D models from SolidWorks see Import SolidWorks models User Manual VIRTUAL UNIVERSE PRO V2 Page 114 Solidworks import strategy Import a 3DXML file this file must be previously exported from Solidworks C Import from Solidworks using 3DXML Solidworks project must be previously opened in Solidworks C Import from Solidworks with COM mode Solidworks project must be previously opened in Solidworks slow E Convert constraints to joints PE From Inventor Provides access to the Inventor data import tool For more information on how to import 3D models from Inventor see Import Inventor models Import from Inventor Open assembly in Inventor and then click on Import Import Cancel A 3D text Add a 3D sprite in a text shape Create 3D text Text Sorting Station Font object Font E Font object create a 3d sprite Arial composed by n aspects one for each char if Text item is void create an object with ASCII codes 0 to 255 otherwise use chars from this item Fe LE User Manual VIRTUAL UNIVERSE PRO V2 Page 115 External links Open the External Links window listin
112. t rely on the VIRTUAL UNIVERSE PRO physics engine However the Physics option can be enabled on the sprite to take into account the potential collisions of this sprite with other sprites DE aa Rotate Z o Move the sprite in rotation relative to the axis Z of the parent sprite local frame local frame The property Move and rotate mode lets you choose the drive mode for this displacement Time Speed Position Speed is in degrees seconds Important This behavior does rely on the VIRTUAL UNIVERSE PRO physics engine However the Physics option can be enabled on the sprite to take into account the potential collisions of this sprite with other sprites AE Attach collidina objects o Attach the selected 3D sprite with other sprites whose name is specified in the Link Name s field Important This behavior has to be applied to the moving sprite which comes in contact with other sprites The name of sprites to be attached must be filled EE Freeze o Freezes the object Important This behavior relies on the VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite Example User Manual VIRTUAL UNIVERSE PRO V2 Page 140 This behavior is used in the conveyors available in VIRTUAL UNIVERSE PRO demo library to freeze the conveyor belt and bring it back to its initial position when moved LE Put far o Place the 3D Object far by moving it off to a distant position not vis
113. tch Rotates rollers sens 2 aa Controller local variables list dtr 11 4 phase big box ssa a Ait Vi 4 4ck nn 1H phase er or ner a Se 2 Program zone dick on left margin to select networks left button or to insert delete networks right re button r ems added reference at a Cancel RUN esl Properites of item selected ln Lam in the program zone User Manual VIRTUAL UNIVERSE PRO V2 Page 172 When an item is selected you can access its properties in the lower left area Controller phase Bottom sensor mb 2 phase Conveyor Switch 4 9 phase big box Conve 4 Controller local variables list AH 11 phase big box Forw E Properties 4L g Type Local variable 4 Name of the behavior or nz big box ct TH i 2 phase bigbox Back One can thus select the variable associated with the item Items list coil the associated variable is written with value O or 1 depending of the state defined by the network boolean equation 0 if false 1 if true not coil same than coil but written value is 1 if false and 0 if true j set coil the variable is set to 1 if the network is true _ reset coil the variable is reset to O if the network is true inverting coil the variable is inverted if the network is true This invertion is performed every page execution the use of the raising edge contact allow to perform this invertion only one time c calculation coil
114. the elements values below 2 disable the grid If multiple items are in the same location click multiple times with the left button on them alternately selects one of them User Manual VIRTUAL UNIVERSE PRO V2 Page 161 HMI sample start DISPEAY 817 FPS User Manual VIRTUAL UNIVERSE PRO V2 Page 162 Properties of Controllers Programming Functions Programming features appear in the projects as one or more controller children of the World or Sprite 3d ttems Each controller can contain one or more pages of program areas not limited in size written in Ladder or FBD SFC SFC and function blocks Controllers can read and write values of behaviors of the project Each controller can also read and write local variables local to each controller Controllers perform their program pages in RUN mode Name Properties Expert mode 1 3d sprite s 0 beh by objects by properties mx L User Manual VIRTUAL UNIVERSE PRO V2 Page 163 Adding a controller is achieved by right clicking on the World or Sprite 3d items User Manual VIRTUAL UNIVERSE PRO V2 Page 164 Detailed properties of a controller El Mame Name Controller 1 EI Properties Simulation menu True The parameter Simulation menu set the visibility of the controller and the programs it contains in the menu Simulation Debug Program Simulation in RUN mode Programming a controller User Manual VIRTUAL UNIVERSE PRO
115. ther Define the Define the global relative lar speed Define the Define the angular angular relative speed speed ES Speed o Set the linear velocity of the sprite relatively to the reference axis of the World absolute axis system In meters sec or mm s according to the units selected in the properties of the world Important This behavior relies on the VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite and that a slide joint is defined between the sprite sprite moved and the parent sprite KO ot Relative speed o Sets the linear velocity of the sprite relative to the axes of the local coordinate system relative to the sprite local frame In meters sec or mm s according to the units selected in the properties of the world Important This behavior relies on the VIRTUAL UNIVERSE PRO physics engine It requires the option Physics to be checked for the sprite and that a slide joint is defined between the sprite sprite moved and the parent sprite Example User Manual VIRTUAL UNIVERSE PRO V2 Page 136 This behavior is used in the conveyor types Linear belt conveyor and Linear Roller conveyor available in VIRTUAL UNIVERSE PRO demo library to manage the conveyor belt speed RO E Angular speed o Defines the angular velocity of the Sprite relative to the reference axes of the World absolute frame In degrees s Important This behavior relies on the
116. ties Run F Doc Z Right click at the World level to access the Import from Inventor menu Importing data is also available at a sprite level whatever its position in the project tree File Edition Configuration Simulation Add 7 HMI belete Options Import an object Paste ee a basic form External links a 3D text Optimize from Solidworks Include to rendering from Inventor Exclude from rendering Then click on the Import button Import from Inventor x Open assembly in Inventor and then click on Import Import Cancel User Manual VIRTUAL UNIVERSE PRO V2 Page 41 The import process is then started A bar indicates the import progress The waiting time ranges from several seconds to several minutes depending on the imported project size Importer depuis Inventor The 3D data is then imported into VIRTUAL UNIVERSE PRO as a tree of 3D objects sprites available in the set up window This tree follows the original structure of the Inventor data composed of parts and assemblies With an assembly each part is imported as a 3D object sprite independent in VIRTUAL UNIVERSE PRO The initial colors and textures are also recovered in VIRTUAL UNIVERSE PRO E Affichage E Physique E IHM Options Assembly of sprites 3 Mode expert 16 sprite s 3d 8 comportement s parobjets par propri t s Run Attache A A User Manua
117. time with an external controller such as a Programmable Logic Controller a permanent communication is also set up during simulation with the external controller exchange of input output variables Several industrial communication protocols are available in VIRTUAL UNIVERSE PRO to connect and to communicate with different brands and types of industrial controllers Siemens Rockwell Schneider By default the communication speed between VIRTUAL UNIVERSE PRO and the external controller is maximum However it is possible to set a minimum value for the variables exchange period in order to avoid consuming unnecessarily the computer resources The simulation intelligence given to the 3D objects sprites is defined by a set of predefined behaviors and custom behaviors scripts written in Basic or virtual controllers using ladder or SFC FDB All these behaviors scripts and virtual controllers are executed in parallel in a separate thread RUN STOP simulation modes In VIRTUAL UNIVERSE PRO simulation can be in STOP mode simulation stopped and initialized or in RUN mode simulation running In RUN mode the 3D rendering engine the physics engine and the dialog with the external software are processed Behaviors and scripts are active Scr St CORON The 3D sprites and cameras have a duplicate for some parameters eg positions The first set of parameters corresponds to initial values the second set to current values In STOP
118. tions Other values are extrapoled Delete this sensor It is also possible to add Boolean sensors AON sensors all or nothing returning 1 if the mechanical resource is within the detection range of the sensor and O otherwise The following example illustrates the creation of a Boolean sensor sensor max located around the maximum position which can for example model a security sensor User Manual VIRTUAL UNIVERSE PRO V2 Page 76 Capteur Nom sensor_max Type Tor Position Pour les capteurs de position la mise l chelle d termine la valeur retourn e par le capteur Valeur pour d but Valeur pour fin pour la position de d but et z la position de fin Les autres valeurs sont Mise l chelle miben mn lA es Supprimer ce capteur he generated behaviors are S S LE encorrir Ne Eee 85 e gt Me ae we User Manual VIRTUAL UNIVERSE PRO V2 Page 77 Use a library of smart resources VIRTUAL UNIVERSE PRO provides access to a library of 3D resources enabling to capitalize on your own smart resources in order to later use them for building new 3D emulator projects As example VIRTUAL UNIVERSE PRO provides a first demonstration library called Demo library including some smart 3D resources conveyors electrical pusher sensors electrical enclosure source sink that should help to train you and design your own 3D smart resources Fichier Edition Co
119. to control access to the setup window and to the project modification User Manual VIRTUAL UNIVERSE PRO V2 Page 110 Properties of the World Detailed properties of the World Universe E Name amp 2 World Name World i g Light E Display lt Window size 640 480 nn Resizable True Floor Background color E 0 22 44 Ambient light M 128 128 128 Show shadows False Display the number of frames p 9 Use shader False Max frame per second 0 Fog False Fog color MH 0 0 0 Fog start 0 its h World E Physic Physic engine Newton physics D ro D A rti es Sampling 0 variable 0 Simulation soft uniquement False Gravity N 0 981 0 Mouse force 10000 E HMI HMI False HMI console location Floating E Sky dome Texture Horizontal vertices 0 Vertical vertices 0 Texture percantage 0 Sphere percentage 0 Radius Omm E Options Name Expert mode Name of the World Display Window size Expert mode Rendering window size in pixels in full screen mode Full screen mode is activated by running VIRTUAL UNIVERSE PRO with fullscreen on the command line This is necessary for use of VIRTUAL UNIVERSE PRO with a 3D view screen and 3D glasses Resizable Expert mode Allow the user to resize the window Background color Define the color of the 3D world background Ambient light Determine the color and intensity of ambient light light illuminating all objects regardless of their positions and orientations User Man
120. ttenuation Name Name of the Light Position Coordinates Define the Light s coordinates unused for Directional Light E Name Light Omm 50000mm Omn 0 0 0 Omm Omm Omm _ 255 255 255 0 100000mm False 100mm Point 2 45 0 0 0 002 0 Direction Set the direction of the Light in degrees only used for Spot or Directional Light Target Expert mode Only used for the shader shadows this parameter sets the target coordinates X Y and Z Color type etc Color Color of the Light Power Multiplicative factor of the Light s power O value default multiplication by 1 Radius Radius of the Light distance of effect Hide light Hide the Light spot and halo Light halo size Modify only the halo size not the power and radius of the light User Manual VIRTUAL UNIVERSE PRO V2 Page 118 Type Select the Light type point all directions lighting spot or directional Falloff The light strength s decrease between Outer and Inner cone Outercone Angle of the outer cone for spots ignored for other lights inercone Angle of the outer cone for spots ignored for other lights Attenuation Light strength fading over distance User Manual VIRTUAL UNIVERSE PRO V2 Page 119 Functionalities at the Light level Add Add a new Behavior Delete Remove the Light Paste Paste the behaviors copied from another light External links Open the Light External
121. tual Universe es E i Favoris Le i E Bureau Aucun l ment ne correspond votre recherche S Emplacements r cents T l chargements a Bureau C Biblioth ques Documents E Images a Musique E Vid os f Groupe r sidentiel LR St phane Massart eis gt Nom du fichier Input Conveyor Type Objet Virtual Universe F vuo ii Gonna nu 2 The new 3D resource is then available in the VIRTUAL UNIVERSE PRO library ready for reuse ial Handling robot vuo 50 KB VUO File 03 10 12 12 5 Input Conveyor vuo 1771KB VUO Fie 05 30 12 07 1 Proximity Sensor vuo 50 KB VUO File 03 10 12 12 5 User Manual VIRTUAL UNIVERSE PRO V2 Page 82 Quickly connect 3D resources with the Magnetic option VIRTUAL UNIVERSE PRO features a Magnetic function which enables to easily connect 3D resources by using the mouse This is particularly useful for quickly positioning the resources of a production line in the 3D world In the 3D resource a sprite is designated as the connector and has the particularity of being magnetized with other 3D sprites that also use the Magnetic function The Magnetic function is available in the sprite properties S lectionne le paren False Magn tique True ess 3 sprite s 3d 0 comportement s When the 3D sprites using the Magnetic function are moved in the 3D world and approached to one another with the mouse off simulation they are magn
122. tual Universe Pro installation directory must be launched The Server name or IP address must be filled in with the network name or IP address of the PLC where PLCSimGateway exe is running use localhost as server name if PLCSimGateway exe runs on the same PC User Manual VIRTUAL UNIVERSE PRO V2 Page 211 PLCSIM Gateway V1 002 OI x Case of PLCSIM 5 4 SPs 5 In this case PLC Sim emulator is considered as a Siemens PLC The NetToPlcSim exe program which is on the Virtual Universe Pro installation directory must be launched it creates a gateway allowing to communicate with PLCSIM in the same way than a 7300 or S7400 PLC using a network adapter The STEP project must be defined with a CPU using a network adapter The selected PG PC interface must be PLCSIM TCP IP NetToPlcSim exe automatically sets up and activates a communication link between a network adapter managed in PLCSIM with a 192 168 0 1IP address and a 127 0 0 1 local address Virtual Universe Pro can then be connected with the S7 PLC driver using the 127 0 0 1 IP address The usable variables for link names are inputs outputs and internal variable Bit 16 bits words 32 bits words and floating types can be used Examples 10 0 MW10 QWO MF15 User Manual VIRTUAL UNIVERSE PRO V2 Page 212 Connection to OMRON CX Simulator The driver for OMRON CX Simulator emulator use a direct memory access technology for reading and writing DM variables If other O
123. turns a value associated to a Behavior lt parameter gt refers to the parameter It may designate a 3d Sprite by its name If this is not the case the 3d Sprite parent of the Behavior is used The syntax is lt 3d sprite name gt lt parameter name gt SetBehavior lt parameter gt lt value gt writes a Behavior value GetValSprite3d lt parameter gt returns a value associated to a 3d Sprite SetValSprite3d lt parameter gt lt valuer gt modifies a value associated to a 3d Sprite Getuniverse time Returns the current time User Manual VIRTUAL UNIVERSE PRO V2 Page 145 The name for the reference to a behavior must respect the following syntax A name without a path will seek the Behavior whose name starts with that text in all Behaviors in the World lt behavior name gt A behavior brother of the Behavior lt 3d sprite name gt lt behavior name gt A behavior child of a 3d sprite It is also possible to reference the value type as follows lt behavior name gt lt value type gt The value types are internalvalue Currentvalue and values DE ri Execute a script file o Runs a script contained in a file if the current value of the behavior is different from 0 This solution is particularly useful if a script is too long for the integrated script editor User Manual VIRTUAL UNIVERSE PRO V2 Page 146 Example 1 Case of the Electrical Pusher resource available i
124. tware controller are expressed by the time in milliseconds needed to exchange the set of variables shared between the 3D emulator and the external software controller This information is available during simulation in the Universe Connection Link Quality tab File Edition Configuration Simulation E Connection Driver SIEMENS 7 PLC Status Connected Last error Il Link quality 15 E S7 IP address 192 168 56 3 CPU position 0 Options The Debug O window also provides the time needed for exchanging each variable with the external software User Manual VIRTUAL UNIVERSE PRO V2 Page 103 Debuc x Name Alas External variable Current value Internal current value Forcing vacqusmomeme Error linear belt conveyor speed linear belt conveyor start linear belt conveyor speed linear belt conveyor start linear belt conveyor speed linear belt conveyor start linear roller conveyor speed linear roller conveyor start linear roller conveyor speed linear roller conveyor start linear roller conveyor speed linear roller conveyor start linear roller conveyor speed linear roller conveyor start linear roller conveyor speed linear roller conveyor start linear roller conveyor speed linear roller conveyor start scanner sensor scanner sensor linear belt conveyor speed User Manual VIRTUAL UNIVERSE PRO V2 Page 104 Generate standalone 3D emulators players VIRTUAL UNIVERSE PRO can gen
125. ty Time needed to exchange all data with the external software in milliseconds TCP server Expert mode If true activates a TCP server allowing one or more external applications to dialog with VIRTUAL TCP server port Expert mode TCP port number Minimum refresh period for external variables Expert mode Minimum limit in milliseconds for the exchange of all variables 100 exchange of all variables every 100 milliseconds as a minimum Options Automatic run If true simulation is launched automatically when opening the project Press Shift key at the opening of the project to deactivate the automatic run Show variables and states Expert mode If true displays in the rendering window variables names and states on 3D Sprites containing such a behavior using external variables or states Navigation mode VU navigation with mouse or IRIS3D in the absence of mouse this mode enables navigation with buttons and arrows Only frame Expert mode Draw only frames for 3D Sprites Debug physic If true the volumes used by the physics engine are displayed in the 3D rendering window yellow color lines This can be very useful in the development phase of a project to see the different volumes used by the physics engine Statistics Expert mode This section provides information on the 3D rendering time on the physics engine performance and on processing of behaviors Security Expert mode set a password
126. ual VIRTUAL UNIVERSE PRO V2 Page 111 Show shadows If true handles the display of shadows requires that the properties of objects relating to the shadows is also positioned The display of shadows can significantly slow down the 3D rendering Display the number of frames per second refresh rate Use shader Expert mode Use of a shader advanced technology for rendering shadows and other effects Only spot lights or directional lights must be used if true Max frames per second Expert mode If not 0 limit the number of frames displayed per second to the specified value Also preserves CPU time Fog Fog color Fog start Fog end Expert mode Display a fog effect Physic Physic engine Expert mode Select the physic engine to be used NEWTON Physics by default Sampling 0 variable Expert mode Physic engine sampling period in seconds 0 indicates a variable sampling simulation soft only Expert mode Force a software physics simulation for the physics engine does not use the hardware accelerator for physical simulation Gravity N Expert mode Gravity value in Newton Mouse force Define the force used when the user picks an object in RUN mode 2000 is the default value HMI HMI Activation of a Human Machine Interface HMI console location Determine the HMI console location Floating or Anchored below Sky dome Expert mode set a texture used as sky Options User Manual VIRTUAL UNIVER
127. umber is the number of the first word of the group This technology permits to read and write words in the exchange area If other PLC emulator specific variable types have to be written or read then copy instructions must be added in the program see example below Example using universal connection with PLC emulator of the WinSPS S7 software MHJ Software 1 setting up connection in Virtual Universe Pro Virtual Universe Pro stop conveyor vu E x E Connection Driver UNIVERS ALMA Universe Status Stopped Last error Link quality 0 EI UHIVERSALMA Process search string ws Exchange area signature 52494941 The exe file name of the process which is the PLC emulator for the WinSPS S7 VE software is w sv5 exe The ws search string will identify this process Arbitrary the signature is defined to 52494941 RIIA string User Manual VIRTUAL UNIVERSE PRO V2 Page 218 2 defining the signature at the beginning of the exchange area in the emulator Demo WinSPS S7 V5 031 CONVEYORWINSPS W5 7 C AUTOMGEN V7 IRISSD VIRTUAL UNIVERS IRIS3D BIN DEMO EXAM TESE x i lariak v Project content IT OB1 z EESTI CSSS File Edit Block PLC View PLC lMask Extras Help 0 0 temp T OB100 EV CLASS BYT Heme Vars 1 0 temp T OB100_ STRTUP BY 2 Documentation 2 0 temp T O8100_PRIORITY BY GE danse 30 temp T OB100 0B NUMBER BY Block comment i555 n Netwo
128. user cannot move the Camera Rotate with parent If true the Camera moves along with its parent Activated when start In multi camera mode sets the Camera as active Zoom coefficient Increase or decrease the zoom speed 0 default Move coefficient Increase or decrease the displacement speed 0 default User Manual VIRTUAL UNIVERSE PRO V2 Page 122 Functionalities at the Camera level Delete Delete the Camera User Manual VIRTUAL UNIVERSE PRO V2 Page 123 Properties of Sprites Detailed properties of Sprites s Universe E Name i amp 2 World Mme Detection sensor ae E Drawing Light k Camera sities E Texture file lt gt Floor Texture file gt Detection sensor Texture file Texture file E Position and size Coordinates Omm Omm Omm P ro pe rti es of Rotations 0 0 0 A Sprite Rotation axis position 0mm 0mm 0mm Scale DS PA i Size 0mm 0mm 0mm Material Options Physic Billboard Liquid effect Particles Animation Name Name of the Sprite Drawing Determine the 3D file used to define the geometry of the 3D Sprite and possible texture files Position and size Define the initial position rotation along the axis and scale expert mode of the 3D Sprite The rotations are in degrees from 180 to 180 degrees Position and size current values RUN mode Same as above but for the current values Also displays the relative translation and rotation relative to th
129. utton Loot Sp O48 g GI 2 move the cursor the link which is being created is displayed 3 Move the cursor over the target connection 4 release the left mouse button User Manual VIRTUAL UNIVERSE PRO V2 Page 1 7 Deleting a link click right mouse on the link and choose Delete selecting an item left click on an item selects it When an item is selected its properties are accessible at the bottom left Controller Edit Condition ang oO i Fage 1 Fod Sfc Awlays execute Program pages list Delete Modify Add Controller local variables list EI Properties Type Local variable Name of the behavior or na Loci HAY g xs eI If Shit key is pressed the item is added to any existing selection If Control key is pressed the item is added or removed from the selection Selecting a set of elements 1 press the left button of the mouse when the cursor is on an empty area of programming let the button t Gi User Manual VIRTUAL UNIVERSE PRO V2 Page 178 2 move the mouse to select items 3 release the left mouse button ED 5e lf the Shift key is pressed the items are added to any existing selection Move one or more elements 1 press the left button of the mouse when the cursor is on one of the selected items keep the button pressed fo 2 move the object or objects 3 release the left mouse button Deleting or copying of one or more element
130. y properties yA Run Dock User Manual VIRTUAL UNIVERSE PRO V2 Page 80 Export a smart resource into the library VIRTUAL UNIVERSE PRO enables you to capitalize on your own smart resources in order to later use them for building new 3D emulator projects In the project tree select the 3D resource to add to the library and right click Select Export Export s 1 Ton Jackscrew 1 lt gt BagIndexConveyor 1 gt CaseAdjustementAssemblie_MOVING 1 lt gt CaseConveyorAssemblieFIXED 1 i S NoseAssemblie 1 F BagConveyorBracketAssembli i Dupliquer eS a acai Importer Exporter seulement les enfants Exporter seulement les comportements gt Couper gt Copier Goller Liens Montrer Cacher gt Slide_Pipe_Ass 2 Seas FH gt Slide_Pipe_Ass 3 Centrer la vue sur l objet ce Slide_Pipe_Ass 4 x Pe MG FHCS_1_2 13x1 1 TT AB FHCS_1_2 13x1 2 E lt gt FHCS_1_2 13x1 3 ae S FHCS_1_2 13x1 4 i AG LHCS_1_2 13x1 1 sl 434 sprite s 3d 0 comportement s Attache A F Mode expert parobjets par propri t s A Windows Explorer opens In the VIRTUAL UNIVERSE PRO installation directory select the library folder This folder is not write protected you can organize it the way you want adding new directories After having selected the backup path and named your resource click Save User Manual VIRTUAL UNIVERSE PRO V2 Page 81 d Sauver un fichier objet Vir
131. zed into seven sub categories presented in the Types of Behaviors window User Manual VIRTUAL UNIVERSE PRO V2 Page 53 The 6 categories outlined include the predefined behaviors in VIRTUAL UNIVERSE PRO pes of behavior onveyor Displacement Resource Displacement Test Properties ode yo Other j HMI input HMI output Play a Play a sound one sound time loop ane The Code category providing access to Script behaviors Types de comportement D placement Convoyeur D placement Ressources Test Propri t Code Entr es sorties Divers Script Fi Script Execute un fichier de script User Manual VIRTUAL UNIVERSE PRO V2 Page 54 Once the behavior type selected it is possible to configure the behavior by setting its properties Mome ee Scaling maximum vae 0 Start pont mm PEE End pont omm ooo naan properties Current vae 0 Internal current vate 0 With a Script behavior the Scipt editor is opened via the code tab Execut Sieg Eeoa False 0 Current value 0 Data conversion Copy 0 False Script editor User Manual VIRTUAL UNIVERSE PRO V2 Page 55 For more information on behavior types and properties see Properties of Behaviors Example 1 Take a look at the Electrical Pusher resource available in the VIRTUAL UNIVERSE PRO demo library a lt gt Electrical

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