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Virtual Universe Pro V2
User manual
(C)2013 IRAI
User Manual VIRTUAL UNIVERSE Industry V2
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User Manual VIRTUAL UNIVERSE PRO V2
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Table of Contents
Introduction .................................................................................................. 5
Installation .................................................................................................... 6
Hardware requirements .................................................................................................... 6
Software installation ......................................................................................................... 6
Licenses registration ......................................................................................................... 7
Register a license .......................................................................................................... 7
Register a security code (unlimited player) ................................................................... 9
Network installation ........................................................................................................ 10
Overview .................................................................................................... 11
Menus and Windows ...................................................................................................... 11
Navigation and interactions ............................................................................................ 14
Main steps for building a 3D emulator ............................................................................ 16
Composition of a 3D emulator ........................................................................................ 17
Types of imported 3D CAD data ..................................................................................... 21
List of available PLC connectors .................................................................................... 22
Internal working of VIRTUAL UNIVERSE PRO .............................................................. 23
Construction of a 3D emulator .................................................................. 25
Set the general properties of a 3D emulator ................................................................... 25
Display properties ........................................................................................................ 25
Lighting properties ....................................................................................................... 27
Visualization properties ............................................................................................... 28
Navigation properties .................................................................................................. 30
Simulation options ....................................................................................................... 32
Import and simplify 3D CAD models ............................................................................... 35
Import 3D CAD models ............................................................................................... 35
Simplify 3D CAD models ............................................................................................. 43
Design smart 3D resources and systems ....................................................................... 47
Modify position and dimensions of a 3D sprite ............................................................ 48
Add basic 3D shapes .................................................................................................. 50
Add behaviors to 3D sprites ................................ ........................................................ 52
Define motion profiles with the Motion Assistant ......................................................... 62
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Use a library of smart resources ..................................................................................... 78
Import a smart resource from library ........................................................................... 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 ................................ .............. 86
Define the list of 3D emulator inputs/outputs ............................................................... 86
Connect a 3D emulator with an external software/controller ....................................... 89
Mapping between the 3D emulator inputs/outputs and the external controller variables
.................................................................................................................................... 90
Test and debug a 3D emulator ....................................................................................... 92
Launch simulation ....................................................................................................... 92
Simulation messages .................................................................................................. 92
Test the 3D emulator ................................................................................................... 94
Measure and optimize the performances of a 3D emulator ............................................ 96
Measure graphics performances ................................................................................. 97
Optimize graphics performances ................................................................................. 98
Measure the physics engine performances ............................................................... 101
Optimize the physics engine performances ............................................................... 102
Performances of dialog with the external software/controller .................................... 103
Generate standalone 3D emulators (players) ............................................................... 105
Limited players .......................................................................................................... 106
Unlimited players ....................................................................................................... 107
Detailed properties of a 3D emulator...................................................... 108
Properties of the Universe ............................................................................................ 109
Detailed properties of the Universe ........................................................................... 109
Properties of the World ................................................................................................ . 111
Detailed properties of the World ................................................................................ 111
Functionalities at the World level ............................................................................... 114
Properties of Lights ....................................................................................................... 118
Detailed properties of Lights ...................................................................................... 118
Functionalities at the Light level ................................................................................ 120
Properties of Cameras .................................................................................................. 121
Detailed properties of Cameras ................................................................................. 121
Functionalities at the Camera level ........................................................................... 123
Properties of Sprites ..................................................................................................... 124
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Detailed properties of Sprites .................................................................................... 124
Functionalities at the Sprite level ............................................................................... 128
Properties of Behaviors ................................................................ ................................ 133
Detailed properties of Behaviors ............................................................................... 133
Types of Behavior ..................................................................................................... 135
Functionalities at the Behavior level .......................................................................... 154
Properties of HMIs ........................................................................................................ 155
Detailed properties of a HMI ...................................................................................... 156
Creation or modification of a HMI .............................................................................. 157
Properties of Controllers ............................................................................................... 163
Programming Functions ............................................................................................ 163
Detailed properties of a controller.............................................................................. 165
Programming a controller .......................................................................................... 165
Common elements .................................................................................................... 168
Ladder language ....................................................................................................... 169
Fbd/Sfc language ...................................................................................................... 176
RUN mode ................................................................................................................ 185
Diagrams simulation ............................................................................... 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
Automatic generation of a diagram ............................................................................... 192
External connections .............................................................................. 204
Connection with a Schneider Electric M340 PLC or Unity Pro simulator. ..................... 204
Connection to a Schneider Electric m238 PLC ............................................................. 205
Connection to a Siemens PLC S7-1200, S7-300 or S7-400 ......................................... 208
Connection to a Rockwell Compact Logix PLC, Control Logix PLC or SoftLogix emulator
..................................................................................................................................... 209
Connection to an OPC server ....................................................................................... 210
Connection to Siemens PLC-SIM ................................................................................. 211
case of PLCSIM 5.4 SP<5......................................................................................... 211
Case of PLCSIM 5.4 SP>=5 ...................................................................................... 212
Connection to OMRON CX-Simulator .......................................................................... 213
Connection to AUTOMGEN .......................................................................................... 214
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Connection to CoDeSys ............................................................................................... 215
Universal connection .................................................................................................... 217
Example: using universal connection with PLC emulator of the WinSPS-S7 software
(MHJ-Software) ......................................................................................................... 218
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Introduction
VIRTUAL UNIVERSE PRO (Industry package) is an innovative 3D modeling and
emulation software 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.
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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 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.
If 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.
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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:
A license window is opened. Click on « Enter a license »:
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Click on "Save the user code in a file" and save this file on your computer :
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.
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Register a security code (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:
Once filled the player name, a window is opened, displaying a project code:
Copy and paste this project code in an email and send your email to the following address:
contact@irai.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.
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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 installed 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
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Overview
3D rendering
window
Setup
window
Menus and Windows
When launching VIRTUAL UNIVERSE PRO, an empty project is opened in the main 3D
rendering window.
The Configuration menu provides access to the Setup window and to the project
construction tools.
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Debug window
(inputs/outputs)
Logs
window
3D rendering
window
Controllers
window
The Simulation menu provides access to the launch of the simulation and to the
simulation debug tools.
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.
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The ? menu provides access to the user documentation and software information.
The File 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:
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Navigation and interactions
Right mouse button pressed +
moving mouse = rotation
Mouse wheel pressed + moving
mouse or rotating wheel =
translation
Mouse wheel = zoom
Left mouse button click = actions
Left mouse button click and drag
= grab object
By default, navigation in the 3D world and interactions with 3D objects during simulation
are done with the mouse.
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).
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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”:
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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 available 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 humanmachine 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
"players") limited to simulation and requiring no software installation.
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Composition of a 3D emulator
Project tree
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:
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The Universe level provides access to the general use properties of the
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
- …etc.
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.
The World 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
- ... etc..
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.
The Light level provides access to the lighting properties of the simulator.
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.
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 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.
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It 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 building future 3D emulator projects.
For more details on the properties of sprites, see Properties of Sprites.
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.
It 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. HMIs allow to
create consoles which will be displayed into the render window and will use items like
push-buttons, lights, sliders, etc. For more details on the properties of HMIs, see
Properties of HMIs.
The Controller level 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.
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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:
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Types of imported 3D CAD data
CAD Software
Exchange file
(indirect import)
DS
SolidWorks
3DXml
Autodesk
Inventor
DS
Catia
3DXml
DS
Delmia
3DXml
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:
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List of available PLC connectors
Connector
PLC brand
PLC types
OPC Client
Any PLC or control system
compliant with OPC
Any PLC or control system
compliant with OPC
Ethernet S7
Siemens
S7-300, S7-400, S7-1200
PLC-SIM
Siemens
PLC-SIM Emulator
Ethernet-IP
Rockwell,
Allen Bradley
Compact Logix, Control Logix
or Softlogix Emulator
Modicon 340
Schneider Electric
Modicon M340 or Unity
software emulator
Automgen
Automgen PLC compatibles
(see on www.irai.com)
All PLCs or other targets
compayible with Automgen
Advantech I/O
Any system
Any system connected to one
or more Advantech card
Omron Sim
Omron
CX-Simulator Emulator
The virtual 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:
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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.
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 parallel 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.
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For enabling the VIRTUAL UNIVERSE PRO 3D emulators to communicate in real 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.
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
mode, the initial values are recopied into the current values.
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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)
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.
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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
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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 light, as it is possible to add more lights in the 3D
emulator.
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.
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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.
It is possible to add more cameras (fixed or mobile) and so to create additional views
within the 3D emulator.
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Camera 1
Camera 2
Camera 3
Caution! This method of multi-camera view can strongly reduce the performance of the
graphics rendering (refresh rate)
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Navigation properties
Right mouse button pressed +
moving mouse = rotation
Mouse wheel pressed + moving
mouse or rotating wheel =
translation
Mouse wheel = zoom
Left mouse button click = actions
Left mouse button click and drag
= grab object
By default, the navigation within a 3D emulator is done using the mouse and its buttons
(VU navigation mode).
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.
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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.
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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 pressing the
"RUN" button.
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.
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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).
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.
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).
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Import and simplify 3D CAD models
CAD Software
Exchange file
(indirect import)
DS
SolidWorks
3DXml
Autodesk
Inventor
DS
Delmia
3DXml
DS
Catia
3DXml
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:
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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.
The advantage of this method is to not constraint the VIRTUAL UNIVERSE PRO user to
have SolidWorks installed on his computer.
Previously, the full 3D data has to be opened in SolidWorks and saved as a 3DXML
file.
In VIRTUAL UNIVERSE PRO, open the set-up window.
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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.
A dialog box opens with several import methods. Choose the first method "Import a
3DXML file".
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An explorer window opens, you can select the 3DXML file to import.
Then click on the “Import” button.
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The import process is then started. A bar indicates the import progress. The waiting
Assembly of
Sprites
time ranges from several seconds to several minutes, depending on the imported
project size.
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.
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Import Inventor models
This method requires Autodesk Inventor opened simultaneously with VIRTUAL
UNIVERSE PRO on the same computer.
First, open the full 3D data in Autodesk Inventor.
In VIRTUAL UNIVERSE PRO, open the set-up window.
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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.
Then, click on the “Import” button.
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The import process is then started. A bar indicates the import progress. The waiting
Assembly of
sprites
time ranges from several seconds to several minutes, depending on the imported
project size.
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.
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Simplify 3D CAD models
Reduction of the
number of triangles
Removal of small 3D
parts
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.
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.
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Optimized data :
2 093 triangles (- 70 %)
Original data :
6 982 triangles
Optimized data:
2 234 triangles (- 89 %)
Original data :
19 456 triangles
- Remove unnecessary small 3D parts: on the selected 3D sprites, the tool deletes
the 3D parts whose size (volume) is below a threshold.
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This optimization tool is available at two levels:
At the World level: optimization is applied to all 3D sprites in the 3D emulator project
At a 3D sprite level: optimization is only applied to the selected sprite and all its 3D
sprites children
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For more information on how to measure and optimize graphics performance of a 3D
emulator, see Measure graphics performances
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Design smart 3D resources and systems
Behaviors
3D Sprites
3D Sprites
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).
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Modify position and dimensions of a 3D sprite
Compass
attached to
the 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.
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.
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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.
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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...).
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 was finally hidden.
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Add behaviors to 3D sprites
Predefined and configurable behaviors
Behavior based on a script
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).
Adding a behavior to a sprite is made by right-clicking on the selected sprite :
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In the behavior properties, it is possible to choose the behavior type:
Behaviors are organized into seven sub categories presented in the “Types of
Behaviors” window:
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- The 6 categories outlined include the predefined behaviors in VIRTUAL UNIVERSE
PRO
- The Code category providing access to Script behaviors.
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Once the behavior type selected, it is possible to configure the behavior by setting its
Behavior
configuration
(properties)
Script editor
properties
With a Script behavior, the Scipt editor is opened via the code tab.
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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
Example 2
Take a look at the « Detection sensor » resource available in the VIRTUAL UNIVERSE
PRO demo library
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.
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1. Open a void project and switch to the resources library window.
2. From the library, insert the “Electrical Pusher” resource inside the project, by slipping it
with the mouse.
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.
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4. Stop the simulation. At the A33660065-ENVELOPPE sprite level, add a new “Get
informations” behavior and rename it “position X”.
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 A33660065ENVELOPPE sprite X axis (in the local coordinate system relative to the parent sprite
“Electrical pusher”).
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6. Click on the « Main behavior » behavior and open the script editor.
7. In this script, the modification is to use the new behavior “Position X” instead of the
curpos=GetValSprite3d("POSX") function.
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Old script
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New script
8. Restart the simulation with this new script and note that the pusher behavior remains
unchanged.
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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:
- In time
- In speed
- In position
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Moving as a function of time
1)
2)
This is typically the motion profile used in the case of a cylinder driven in time by an
external controller.
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.
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Boolean sensor Min position
Command type
« Back » time (from Max to Min)
« Go » time (from Min to Max)
Boolean sensor Max position
Min and Max positions
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.
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Behavior “move”, cylinder actuator, 3D emulator input
Boolean sensor “min”, 3D emulator output
Boolean sensor “max”, 3D emulator output
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.
The generated behaviors are:
o A value of 0 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.
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Moving as a function of speed
1)
2)
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.
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.
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Boolean sensor Max position
Boolean sensor Min position
Immediate position sensor
Min and Max positions
Command type
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).
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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”.
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 which can, for example, model a security sensor.
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The behavior value sets the speed
Speed setpoint, 3D emulator input
Acceleration time, 3D emulator input
Deceleration time, 3D emulator input
Preset speed 1, 3D emulator input
Preset speed 2, 3D emulator input
“Immediate” position sensor, 3D emulator output
Boolean sensor min, 3D emulator output
Boolean sensor max, 3D emulator output
The generated behaviors are :
o A value of 1 for a "Preset speed" behavior activates the preset speed, forcing the
speed setpoint to its value.
o Reqspeed, 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
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Moving as a function of an “immediate” position
1)
2)
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, external to
the 3D emulator.
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.
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Boolean sensor Min
Boolean sensor Max
Immediate position sensor
Min and Max positions
Command type
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).
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Direct position command
Relative position command
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”.
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 which can, for example, model a security sensor.
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Direct writing of the resource position, 3D emulator input
“immediate” position sensor 3D emulator output
Boolean sensor “min”, 3D emulator output
Boolean sensor “max”, 3D emulator output
The generated behaviors are :
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Moving as a function of a position with acceleration and deceleration
1)
2)
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.
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.
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Boolean sensor Min
Boolean sensor Max
« Immediate » position sensor
Min and Max positions
Command type
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.
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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”.
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 which can, for example, model a security sensor.
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Direct writing of the resource position, internal value
“immediate” position sensor, 3D emulator output
Boolean min sensor, 3D emulator output
Boolean max sensor, 3D emulator output
Position setpoint, 3D emulator input
Maximum speed in units/s (mm or degrees), 3D emulator input
Time to reach maximum speed, 3D emulator input
Time to reach 0 speed, 3D emulator input
The generated behaviors are:
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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.
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
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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.
In the library, select the resource to add to the project and drag and drop it from the
library onto the 3D rendering window.
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The 3D resource is immediately added to the project, and visible in the project tree.
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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.
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".
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The new 3D resource is then available in the VIRTUAL UNIVERSE PRO library, ready
for reuse.
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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
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 "magnetized"
towards each other. The connection is complete when the overlap between the two
sprites is maximum.
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To disable the "Magnetic" function and disconnect the sprites, simply hold the "Alt" key
while moving the sprite with the mouse.
Example
All the conveyors available in the demo library of VIRTUAL UNIVERSE PRO use the
"Magnetic" function.
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When a conveyor is approached to another conveyor using the mouse, it positions and
connects itself perfectly.
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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".
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The "External Link" property is available in the behavior properties.
The list of 3D emulator inputs/outputs is available by a right click at the world level, in the
"External Links" window.
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List of 3D emulator
inputs/outputs
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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).
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.
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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).
- at the World level, in the External Links window (listing all the 3D emulator
inputs/outputs), accessible by a right click.
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.L5K file
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.
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Test and debug a 3D emulator
Launch simulation
To start the simulation, select Simulation in the menu bar and then "Run".
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 :
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Here is the meaning of colors:
Light blue: normal operation of the simulation
Orange: warning (design error in the 3D emulator)
Red : 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.
At any time during simulation, the user can access the logs window, in the
"Simulation/Debug/Logs" menu.
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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.
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The « Name » column indicates the 3D emulator input/output variable name
o red = 3D emulator input variable
o green = 3D 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.
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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 (3D rendering speed and fluidity)
The physics engine performances (realism of the simulated physical phenomena)
The speed of dialog with the external software/controller
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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 (FPS) 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.
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
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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 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.
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