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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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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NOTE:
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Validate
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When switching from model to roadmap mode, everything is set to a state of unknown validity. |
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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Revalidate All - Validates all edges.
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Auto-connects are regenerated when revalidatedthey are re-validated. In 2.6 a an optional feature flag can be set so that to keep auto-connects will not be regenerated when revalidated. If a solution is valid it will remain the same, and if it is invalid it will be indicated as invalid. To generate a valid path, a user can choose to remove the invalid solution and revalidate again to then regenerate a solutionconnect solutions when re-validated unless explicitly selected by a user. See auto-connect details above for more information. |
Export
The Export button generates the different CAD files needed for the current project. The project is compressed to a .zip file and saved under the same project folder.
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