Layout Tree

Select [Layout] from the right tab of the simulator window to display a tree view of robot and layout objects.

The context menu appears by right-clicking the layout object. The frequently used functions can be used without operating by the property grid. The displayed items vary depending on objects.

[Cut], [Copy], and [Paste] commands in the [Edit] menu are available for layout objects other than CAD objects.

Also, the hierarchy of the layout objects can be changed by dragging and dropping.

What is an Object?

The objects in the simulator are either a "Robot Object" or a "Layout Object":

A "Robot Object" includes the robot itself, its hand, local coordinates, point information, etc. A "Layout Object" includes objects to be placed around the robot to simulate the robot peripheral environment in the 3D display.

Robot Object

  • Robot: The robot itself. The display data is handled by the simulator.

  • Hand: The hand is created by loading the CAD data (XVL(.xv3), VRML2.0, STEP, IGES, and DXF) from a file.

  • Force Sensor: Set force sensor can be displayed.

  • Safety Function: When using option of safety function, it displays robot monitored range and monitored areas.

  • Object to reflect force control data: Force Control, Force Guide

  • Object to reflect collision detection margin: Collision Margin

  • Object to reflect a robot parameter : Local, Tool, Box, Plane, Pallet, XYLim

  • Object to reflect robot point data: Point

  • Objetct to reflect safety function parameter: Monitored Range, Monitored Areas

Layout Objects

  • Simple object: Box, Sphere, Cylinder, Floor / Wall
    The display data for these objects is handled by the simulator. The object size can be changed as desired by editing properties.

  • CAD object: These objects are created by loading CAD data (XVL(.xv3), VRML2.0, STEP, IGES, and DXF) from a file.

    • Camera Objects
    The following devices can be displayed. Devices that are supported in Epson RC+ 8.0 Option Vision Guide 8.0 Hardware & Setup can be selected.

  • Camera: USB and GigE camera can be selected.

  • Lens: Each model of standard camera lens, megapixel camera lens, mega-pixel camera lens (HF), 1-inch lens can be selected.

  • Extension tube: Each length of tubes can be selected.

    • Surveillance objects
    Layout object that detects a contact or a collision with a robot. There are two types; Surveillance Area and Surveillance Plane. Similar to the layout objects, the display data is prepared in advance. The object size can be changed as desired by editing properties.

    ← Property Grid Pane →

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