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.
Edge Path - Display paths solely by their connected state (straight lines) or by the actual motion the TCP will follow. Examples:
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Visibility - The visibility options determine which elements in the canvas are seen or hidden. This feature can be useful for decluttering the canvas. You can, for example, zoom in to inspect an area of invalid edges while filtering out the other valid and in-progress edges. Check or uncheck boxes to display/hide these voxel and edge types:
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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Both the options above can be accessed from the property tree in roadmap mode.
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NOTE: Collision Analysis results get discarded if users transitions from roadmap to model mode. In such a situation, user needs to re-run collision analysis after switching back to roadmap mode. |
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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