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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After defining the parameters of an auto-connect as outlined above, you must
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If a solution has already been generated for an auto-connect, validating will only check for validity. A valid auto-connect edge is indicated as green in the canvas. If an entire auto-connect is valid it will be indicated as black in the property tree. If an auto-connect has any invalid edges it will be red in the property tree and the invalid edges are indicated as red in the canvas.
Making changes which may impact auto-connect validity -
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Auto-connects with a solution that is not yet validated or has some edges which are not yet validated it will appear grey in the property tree and will have edges in the canvas that are yellow to indicate those with unknown validity. If a solution has already been generated for an auto-connect, validating will only check for validity.
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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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