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Control Panel Configure Mode
Configure Mode is where you upload and set up projects, choose a controller and settings for the robots, enter their IP addresses, create or update targets, and set other parameters. In this mode, the Realtime Controller is not actively controlling the joints of the robots.
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Project
The name of the current project, plus access to the Project dropdown.
Project dropdown
You can create a new project using this dropdown. Creating a new project is the first operation you perform when you open the Control Panel the first time.
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+ Upload New Project - Upload a new project to the Control Panel.
Controller & Settings
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There are three types of controllers:
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Enable Auto Acquire: Auto Acquire isenabled when the box is checked. A RTR controller will automatically acquire control of the robot when a move command is received, and release control of the robot when the move has completed. This allows teach pendant programs to continue and execute additional commands.
Settings
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The Settings cog toggles the display of the controllers and a list of settings available for the project. The settings will vary depending on the specific robots assigned to the project.
Load button
Loads the project and displays the indicator LOADED at the top of the 3D View, which will then change to CONNECTED when the robot(s) is/are automatically connected.
Unload button
Unloads the currently loaded project.
Disconnect
Disconnect or reconnect all robots with Realtime Controller.
After a RTR project is loaded and connected, robot dilation is visualized.
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Robots in Project
A list of the robots in the currently selected project. A robot can be selected from this list or by clicking on it in the 3D View.
Robot Name
The name of the currently selected robot.
Robot Type
The make and model of the robot.
Robot Settings
Used to set and/or manage the settings for the currently selected robot. The Realtime Controller will only display the settings and configurations necessary for each robot in the project.
Robot IP Address or Hostname
If connecting to a physical robot, its IP address is entered here.
Enable Servos on Load
Check this box if RTR projects should be automatically uploaded and started on robot controller. To manually control the active project with another device, uncheck this box.
Advanced Settings
After a RTR project is loaded, robot joint dynamics parameters are entered and edited here for each robot.
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Control Panel Command Mode
In Command Mode, you’re actively connected to the robot so you can send motion commands.
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Robots in Project
A list of the robots in the currently loaded project. Robots can be selected from this list or by clicking on a robot in the 3D View.
Robot Preset
A list of robot presets that have been created for the selected robot. The 3D View will update to reflect the preset selected.
Simulation Starting Target
A list of targets to which you can teleport the robot in robot Configure Mode. The robot snaps immediately to the selected target without following its planned motion or path. You must be in robot Configure Mode (as opposed to robot Operation Mode) and the controller type must be Internal Simulated to teleport a robot to a target.
In robot Operation Mode, a target can be selected from the list for a robot to move the the target using the Move Parameters.
Manage Targets
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In robot Configure mode, you can create and adjust targets without having to go back to the RapidPlan Create application.
For example, if you discover that a target created in RapidPlan Create is not in its correct location, you can manually jog the robot to where you want the target to be, then click Update Target. The system will move the target and recalculate all the roadmaps.
Robot Configure/Operation Mode
Robot Configure Mode and Robot Operation Mode can be toggled by pressing Enter Configure/Operation Mode button from the top of the 3D view.
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Robot Operation Mode is for moving the robot to targets and poses using its planned motions. The settings available on the Control Panel Command tab (move speed, timeout, etc.), which is used to define how those motions will take place.
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Robot Operation Mode settings
Behavior Settings
This cog/button displays the Interrupt Behavior and Alternate Location settings.
Interrupt Behavior
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Replan and timeout settings can be modified for both target and pose moves.
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Save & Close will issue an ASCII API command “SetInterruptBehavior“ to save the settings to the RTR controller.
Alternate Location
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After Enable alternate location moves toggle is on, Alternate locations can be defined as none(disabled), Target, Pose, or Partial Move. If a Target or a Pose is selected, The robot will move to the specified, position when obstructed. If Partial Move option is selected, the robot will move along its path as far as it can before a robot-based obstruction is present.
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Save & Close will issue an ASCII API command “SetAlternateLocation“ to save the settings to the RTR controller.
Robots tab
Choose to display either the Robots or Objects tab.
Target Move tab
Used for moving the selected robot’s end effector to a specific target.
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Target Move Settings
Robot Preset - Robot presets created in RapidPlan Create are selected from this list box.
Desired Target - A dropdown list of targets to which the robot’s TCP will move according to its planned path. Target lists can be filtered automatically by starting to type the target’s name.
Target Move Parameters
Move Speed
Determines the speed at which the robot moves, to a target or pose. This number is a percent of maximum tool speed. The default is 20%. The speed factor will affect maximum velocity but not acceleration and jerk.
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The Release Control button is used to hand off control of the robot to an external device controller. Most of the other controls will be disabled since the robot is no longer under Realtime control. The status of the robot changes from Active to Released. The button toggles to Acquire Control, which, when clicked, regains control of the robot from the external device controller.
Pose Move Tab
Used to move the robot’s end effector to an X, Y, Z location and roll, pitch, yaw orientation in 3D space.
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Pose Move Settings
Robot Preset –Robot presets created in RapidPlan Create are selected from this list box.
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This selection will Paste the coordinates and rotation values of the current TCP pose.
Pose Move Parameters
Move Speed – Adjust the speed at which the robot moves, to a hub or to a pose, by changing the value (percent of maximum speed) in the this box. The default is 20%. The speed factor will affect maximum velocity, but not acceleration and jerk.
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This option should only be used very carefully and should be tested on simulated robots first.
Pose Preview
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The red pyramid displayed in the 3D View is a preview of the next pose move. Entering new translation and rotational values moves the pyramid to the new location, showing you a preview of where the robot will move.
Objects tab
Click on the Objects tab to display the Objects panel. The object’s states are selected and modified here.
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