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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.
Command /Terminal Panes
In Control Panel Configure mode, you’ll load Roadmap projects and set robot parameters. With Command
The color of the navigation bar changes accordingly:
Blue: Configuration mode
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.
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History Panes
Depending on your selection in the navigation bar, this pane can display: the status of the robots in the current project; a history of History of ASCII API commands sent and responses received.
The Status pane displays the Robot IP address and External IP address information. The status of the Realtime Controller is displayed (Configuration Mode, Operation Mode, or Fault). The loaded project’s information is displayed: a list of robots in the project, their status, and current presets.
You can copy robot TCP and joint configuration data by clicking on the associated clipboard icon.
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The History pane displays ASCII API command and response information. The time stamp and execution time for each API command is displayed. Click on a command to display more details about the command and to access an Actions drop-down menu, which allows you to resend the command, copy the command request, or copy the command request and the response data (Copy All) to your clipboard.
ASCII response information can be presented in YAML format by default or in CSV if the CSV Responses toggle is turned on.
The History pane automatically scrolls and displays the latest command and response information.
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Faulty commands are highlighted. Click on the command to display more information about the error.
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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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Voxel Colors
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Robots:
Robot - Reorder robots by dragging the panel.
Color - Choose a color of a robot’s path voxels. Robot targets are rendered using the same voxel color as the robot.
Show Path 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
Show Hidden Roadmap Edges - Show edges that are occluded by an object in the canvas 3D scene as dotted lines
Connectivity or Paths
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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On the Network tab you can enable or disable Profinet communication and download project-associated Lookup Table.
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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.
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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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. 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 under the Select View drop down menuusing 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.
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