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Configure/Operation Mode
You can toggle Robot Configure Mode and Robot Operation Mode by pressing the Enter Configure/Operation Mode button at the top of the 3D view.
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Operation Mode is for moving the robot to targets from a list and poses using its planned or off-roadmap motions. The settings available on the Control Panel Command tab (move speed, smoothing, etc. described below), are used to define how those motions will take place.
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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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Projects
The name of the current project, plus access to the Project dropdown.
+ Install Project
You can install a new project by uploading the project to the Control Panel. Installing a new project is the first operation you perform when you open the Control Panel the first time.
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The installation time for the updated project is typically shorter because only the incremental project changes are updated.
Controller Type
There are three types of controllers:
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Controller types can be switched when all robots from a loaded project are disconnected. However, robot settings must be re-adjusted for each controller type before reconnecting robots.
Enable Teach Pendant Control
Robot teach pendant control, previously 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.
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API command BeginOperationMode does not acquire control of robots.
Explicit Acquire/Release calls are rejected with an error code.
Each Move API command results in RTR controller automatically acquiring control of the robot, performing the move, and then automatically releasing control when the move is finished.
When Enable Teach Pendant Control is enabled, Move commands cannot be queued. Otherwise, an error code will be issued:
If auto-acquiring and an additional move is sent: error code 2012 is issued.
if auto-releasing and an additional move is sent: error code 2011 is issued.
While planning the move or while executing the move and an additional move is sent: error code 4007 is issued.
Set the rotation convention
A user can set a different Euler convention for rotations. The default setting is Rx*Ry*Rz.
Load button
Loads the project currently in the Project dropdown 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. The project is now ready for runtime operations.
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The status of the robots in the Status pane change from Initialized to Connected.
Unload button
Unloads the currently loaded project.
Connect All/Disconnect All button
Disconnect or reconnect all robots with Realtime Controller.
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After a RTR project is loaded and connected, RapidPlan Control displays robot dilation.
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Robots tab
The Robots tab displays a list of the robots in the currently selected project. Select a robot from the list by clicking on the down arrow next to the robot name. That displays the settings of the selected robot.
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Robot Name
The name of the currently selected robot.
Robot Status
If a robot is disconnected and ready to connect, RapidPlan Control displays the status “Initialized“ next to the name of the robot. If a robot is connected, its status is displayed as “Connected.“ If a robot is deactivated, its status is displayed as “Inactive.“
General
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 Type
The make and model of the robot.
Robot IP Address or Hostname
If connecting to a physical robot, its IP address is entered here.
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Third party simulated controller has a separate IP address assignment.
Settings
Robot-specific settings may be displayed when connecting robots from different OEMs.
Enable Servos on Load
Check this box if RTR projects should be automatically uploaded and started on robot controller. Uncheck this box if you prefer to enable the servos manually.
Initial State
This setting is only available for Internal Simulated robots in Configure mode. After the Initial Preset and the Initial Target are selected from the dropdown list, the simulated robot will switch to the selected preset and teleport to the selected target.
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Interrupt Behavior
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You can modify replan attempts and timeout settings for both target and pose moves.
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Save to All Robots will apply the settings to all robots in the currently loaded project.
Alternate Location
After the Enable toggle is on, Alternate locations can be defined as Partial Move, Target, or Pose.
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Save To All Robots will apply settings to all robots in the currently loaded project.
Activate/Deactivate
By default, all robots are activated after a project is loaded.
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If the Ignore robot in workcell toggle is turned on, the deactivated robot will not be considered in collision-checking, as if the robot has been physically removed from the workcell.
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Advanced Settings
After a RTR project is loaded, robot joint dynamics parameters are entered and edited here for each robot.
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If a robot has multiple presets, joint dynamics can be specified for each preset.
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Objects tab
Click on the Objects tab to display the Objects panel. You can select and modify an object’s state here, for example, whether the object is present or suppressed.
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Targets tab
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In Configure Mode, you can create and adjust targets without having to go back to the RapidPlan Create application.
Targets
When the Targets tab is open, a list of targets is displayed in alphabetical order for the selected robot and the selected robot preset. Press the arrow button next to each target name, or select targets on the 3D view to expand or hide additional operations.
You can edit the name of each target, update its position from the current robot TCP, or delete it. It is also possible to Add a new target or Search for existing targets by name.
Edit Name
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Press “Edit Name“ to display the input field to change the target name. Standard naming convention must be followed(RapidPlan Create 2.5 Naming Conventions, Restrictions, and Recommendations ). Press “Save & Update“ to keep the changes and update the 3D canvas display. Press “Cancel“ to cancel the operation without saving.
Update Position
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If a target created in RapidPlan Create is not in its correct location, you can manually jog the robot to where the target should be, then click Update Position and press “Save & Update“ button. The system will move the target and recalculate all the roadmaps. Press the “Cancel“ button to cancel the operation.
If all object states is selected for validating edges, robot motion path validation will check all object states when updating a target. This is the default setting. If active object states is selected, path validation will check active object states when updating a target.
Delete Targets
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To delete a target, click “Delete Target“ and confirm the deletion by pressing the “Delete“ button.
Search Targets
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When a large number of targets are assigned to a robot preset, the target list becomes long for vertical scrolling and selecting. You can still select a target directly from the 3D view, or, use the Search Targets function to narrow down the target list.
Click the arrow next to “Search Targets“ to show the search field and select the robot name and robot preset to update the target list. Start typing partial names of targets. The target list is updated based on the search result.
Add Target
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In Configure Mode, when a new target name is entered under Search Targets, it is possible to add a new target using the new name, without adding any connections.
After a new target is created, it is displayed in the target list.
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Connections tab
In robot Configure mode, you can create and adjust connections without having to go back to the RapidPlan Create application.
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Filter Connections
To start editing connections, you must enter a target name to display the associated connections. Click the arrow next to “Search Connections“ and specify the Specify the robot name, robot preset, “From Target“ target name, “To Target“ target name, and Connection Type, to narrow down the search.
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Remove Connection
A list of connections is displayed. Click the down arrow for a connection to display its type. You can click “Remove Connection“ to remove the connection.
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Add Connection
If there’s no connection between a specific “From Target“ target and a specific “To Target“ target from the search resultselected targets, it is possible to add a connection based on a specific “Connection Type“. The available connection types are “auto“, “cartesian“, or “joint“.
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The creation of a connection may take some time, depending on the complexity of the path and how long validation takes. The Realtime controller must stay in Configure Mode while the connection validation process is in progress.
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Control Panel Command Pane
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Operation Mode
In operation mode you can send motion commands. Choose to display either the Robots or the Objects tab.
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Robots tab
A list of active robots in the currently loaded project is displayed in the Robots tab. Click the arrow next to a robot’s name to select it and display its command settings.
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State
A list of robot presets that have been created for the selected robot. In Internal Simulated mode, the 3D View will immediately update to reflect the selected preset and the targets assigned to it. When controlling a robot controller, you must manually select the correct robot preset to match the actual robot configuration.
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Target Move
Used for moving the selected robot’s end effector to a specific target.
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Target Move Settings
Desired Target - A dropdown list of targets to which the robot’s TCP will move according to its planned path. You can filter the list automatically by starting to type the target’s name. Or, you can select a target from the 3D view as the desired target.
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
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
Desired Pose: X, Y, Z; Rx, Ry, Rz – Enter X, Y, and Z and Rx, Ry, and Rz values for the desired pose of the robot’s end effector.
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This selection will copy 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 target displayed in the 3D View is a preview of the next pose move, showing you a preview of where the robot will move.