After you have modeled your work cell in Model Mode, you can create a set of pre-planned robotic motions, specifically the robot’s configurations and the paths connecting them, in Roadmap Mode. The robotic motions are checked for possible collisions during runtime.
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You can double-click on the target sequence name in the Property Tree to display its Target Sequence dialog to add or delete targets, change the order or, in general, make edits to the target sequence.
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Yellow text - Target Sequence text that displays in yellow alerts you to potential issues. Hover your cursor over the text to display more information.
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Face/Edge/Vertex - Allows selection of any face or edge or vertex for any objects or links in the project
Subassembly - Allows selection of a sub-assembly (part of an assembly or a complex object with multiple parts)
Object - Allows selection of an entire assembly (or an object)
The Measure tool can display other measurement information such as distance between parallel surfaces, relative plane angles, and total area.
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Edge Color - Validity State - Display edges according to the validity of their connections:
Legend - Invalid: Red connections.
Legend - In progress/Unknown: Yellow connections.
Legend - Valid: Green connections.
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Edge Color - Connection Type - Display edges colored by their type: purple for Cartesian; green for Joint.
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Motion Voxels - Gray voxels showing the swept volume and robot dilation along the motion path.
Intersecting Voxels - Red voxels indicate where the motions of two or more robots would collide following the planned paths.
Edges - Color coordinated: Invalid, In progress/Unknown, Valid
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Auto-play motions - Check to start playing motions immediately after edges, targets, or target sequences are selected for each robot.
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As the selections are made, you can view the rule description at the bottom of the dialog. To view full text, you can copy and paste in a text editor.
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NOTE:
It is not permitted to create the same combination for two rules, be it disable collision or clearance rule.
Example: Given a specific Selection A (robot/robot links), Selection B (static objects/robot links), and Roadmap C (roadmap) combination, having more than one rule containing this combination is not permitted.
Disable Collision Checking for link/object pair - Analyze the entire project for pairs of objects/links which (a) never collide, (b) are always equidistant, and Disable Collision Checking for link/object pair - Analyze the entire project for pairs of objects/links which (a) never collide, (b) are always equidistant, and (c) almost always collide. The analysis produces a list of all pairs, accessible from the Collision Analysis menu or from the property tree, that fit the condition aforementioned. As a result, the Collision Analysis dialog provides an option to disable collision checking for all or part of the detected link/object pair.
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Both the options above can be accessed from the property tree in roadmap mode.
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Clearance
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Clearance
Also known as Clearance Rules in the Property Tree, Clearance option in the tool bar allows to specify a minimum clearance rule when path planning. The rule applies to a robot/preset’s roadmap (or part of the roadmap). These sets of rules, which are user-defined, are taken into consideration during path planning.
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Name: Provide rule name
The rule is applied between Selection (A) and Selection (B) for Roadmap (C).
Selection (A): Select whether to apply the rule to the entire robot (except robot base) or apply the rule to specific links of the robot (except robot base). The additional joints for the external axis can also be selected here.
Selection (B): Select whether to apply the rule to the entire environment, or to specify the static objects and/or robot links (excluding robot base and including external axis) to apply this rule to.
Roadmap (C): Select whether to apply the rule for the entire roadmap of the selected robot/preset or select specific connections and/or auto-connects, which are part of the roadmap
As the selections are made, you can view the rule description at the bottom of the dialog. To view full text, you can copy and paste in a text editor.
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NOTE:
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Validate
Validate checks the roadmap’s targets, configurations, and connections are valid, in preparation for exporting the project file. It is a two-step process.
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