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Screen Control Widgets
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The 4-arrow widget at the top of the Navigation Bar toggles the application between default display and full-screen.
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The vertical line separating the 3D View from the Command/Terminal pane content can be dragged to resize the width of panes horizontally. This also applies to the horizontal line separating the Command/Terminal pane from the Status/History pane, which can be dragged to resize the vertical height of those panes.
Navigation Bar
Navigate through the various parts of the Controller. Choose to display Command, or Terminal pane. Select what the status pane displays: Status, History, Advanced Mode, Settings, and Support information.
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Green: Operation mode
Red: Fault status
Projects/Workcell/Terminal Panes
You can select a project from Projects pane. With Workcell pane, you’ll send commands to robots. When the Terminal pane is open, you can send ASCII commands manually from the Control Panel. The Workcell pane content varies depending on whether the workcell is in Configure or Operation mode.
History Panes
History of ASCII API commands sent and responses received.
Advance/Standard/Read-only Modes
Different access modes are available to control features and editable fields. To change access modes, click on the Advanced Mode icon in the navigation bar to display the Access Mode dialog then select an access mode. The options are Read-only, Standard, and Advanced.
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Read-only mode does not require an access code. By default it allows read-only access to all fields.
Settings
Click on the Settings icon in the navigation bar to access General, Visualization and Network settings.
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On the Visualization tab you can change color of the robot voxels, and how the elements of the canvas are displayed.
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Robots:
Robot - Reorder robots by dragging the panel.
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Voxels - Path voxels show the space the robot will take up when it moves. When a robot is not moving, the path voxels show the dilation distance for the robot. Toggle the visibility of path voxels individually or globally for all the robots in the project.
Dynamic Scene Model:
Show DSM Voxels - Toggle the display of DSM (Dynamic Scene Model) voxels.
Show DSM Boxes - Toggle the display of DSM boxes
Roadmaps:
Show Roadmaps - Show the roadmaps for selected robots in the canvas
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connectivity: Show straight lines between roadmap nodes.
paths: Show the path of the TCP between roadmap nodes.
Canvas:
Show Grid - Toggle the display of the floor grid.
Show Canvas Controls - The Canvas Controls widget is designed for touch-based inputs. When this setting is on, the widget appears in the right upper corner of the 3D view (aka canvas). Click on the widget to display or hide the controls selected in the Visualization Settings dialog. See 3D View below for an example.
Advanced Settings:
Show Performance Stats - Displays in the upper right corner of the 3D View a series widgets showing performance statistics. Click on the widget to cycle through each. This widgets display the current FPS (frames per second) video rate, MB, and the rate over time.
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Download Lookup Table - To communication with a RTR controller using Profinet protocol, all objects in a RapidPlan project are referenced by integers specified in a lookup table. This lookup table can be downloaded here.
Support
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Access information relating to support issues:
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Downloads – Downloads the logs for troubleshooting with Realtime support.
3D View/Canvas
The 3D View, also known as the canvas, is an interactive view of the robots, their configurations, targets, and environment. You can customize what is displayed in the 3D View, including the robots' path voxels, based on your selections in the Visualization Settings tab described above. If “show roadmaps” are selected in Visualization settings, routes will be shown on the canvas as well. As with RapidPlan Create, you can pan, rotate, and zoom the view of the cell in or out.
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Controlling the View
To pan the view of the cell, press and hold the scroll wheel and right mouse button and drag the mouse.
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Zoom the view in and out with the scroll wheel.
Canvas Controls
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When the “Show Canvas Controls“ toggle is on from the Visualization tab under Settings, a canvas control widget will appear in the right upper corner of the 3D view. The current view of the workcell can be saved and loaded using the camera icon in the top right corner of the canvas. Pan/Orbit control of the canvas is available by pressing Up/Down, Left/Right buttons without using scroll/drag mouse functions. This widget is designed for touch-based inputs.
Connected/Loaded status
Connected status means the project is loaded and ready to go to operation mode. Loaded status means the project is loaded and the Realtime Controller is ready to connect with the robots.
Enter Configure/Operation Mode Button
Enter Operation Mode in order to send commands to the robots. Enter Configure Mode in order to change settings.
Pause All Button
Press this button will cancel all moves in the work cell.
Status Bar
View relevant information including camera position and details on selection modes for targets, robots and edges.
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Camera Position
Camera position shown in the status bar indicates current position (XYZ) of the camera. The inputs can be edited by double-clicking on the fields. When editing a field, Pressing Tab moves to the next field, and Enter confirm the changes.