Robot Object Properties

Robot

Property Value
Number Robot number
Name Robot name. You can specify any name for a robot.
Type Robot type The robot type (SCARA and 6-Axis) is shown. This property is read-only.
Series Robot series The robot series is shown. This property is read-only.
Model Robot model name The robot model is shown. This property is read-only.
Change Robot If you want to change the robot model, click on [Change Robot] button. When you click on this button, a dialog appears to change the robot. For details, see Changing the robot model described later in this chapter.
Position

Robot position

Specifies the base center in the simulator World coordinates.

Rotation Robot angle
Show Label
  • Displays the label: True
  • Not display the label: False (default)
Show Singularity Area Shows/hides elbow singularity areas for N series robots.
  • Show area: True
  • Not show area: False (Default)
This can be set for N series only.
Collision Property Value
Check Enables / disables the collision detection for layout objects.
  • Enable: True (default)
  • Disable: False
Even if this is enabled, it does not detect collision between the robot base and layout objects.
Check Self Enables / disables the collision detection for a robot itself.
  • Enable: True (default)
  • Disable: False
Color Specify color to be used when collision of the arms is detected. Default: 168,0,0
Property Value
Transparent
  • Semi-transparent: True
  • Not semi-transparent: False (default)

The front-back relation of the objects may be incorrect depending on the viewing angle. See details below.

Simulator Specifications and Restrictions

Transparency Specifies the transparency in the range of 1 to 90%. Transparency increases as the setting value becomes larger.

Changing the robot model

When you want to change the displayed Robot click the  [Change Robot] button. The [System Configuration]-[Controller]-[Robots]-[Robot**]-[Change]-[Change Robot] dialog will appear.

 [Change Robot] button is not displayed, increase the property grid width and click the [Value] column of the grid once.

KEY POINTS

When you change the displayed robot model, all the settings for the robot (Local coordinates, Tool coordinates, etc.) will be initialized to the default values.

Collision Margin

Sets a collision detection margin for each robot arm collectively or separately.

When the robot type is changed from SCARA robot to 6-Axis robot or 6-Axis robot to SCARA robot, the Value will be reset. When changing to the same type robot, the value will be remained.

Property Value
Visible
  • Display: True
  • Not display: False (Default)
Size Margin size
Color

Margin color

Default: 255,216,0

Check Enables / disables the collision detection.
  • Enable: True
  • Disable: False (default)
CollisionColor

Specifies a color to be displayed when detecting a collision.

Default: 168,0,0

Local, Tool, ECP, Box, Pallet

If the local coordinate system of the corresponding number is not defined yet, the check box is grayed.

You can set up from the [Tools]-[Robot Manager] items.

  • Local : Local settings
  • Tool : Tool settings
  • ECP : External control point settings
  • Box : Entry detection area
  • Pallet : Pallet settings

Item Description
Visible Shows / Not show corresponding settings.
  • Not visible: Uncheck (default)
  • Visible: Check

For Local 0 (Base), "Visible" is the default.

Plane

If the each setting of the corresponding number is not defined yet, the check box is grayed. You can set up from [Tools]-[Robot Manager]-[Planes].

Item Description
Visible Shows / Not show corresponding settings.
  • Not visible: Uncheck (default)
  • Visible: Check
Origin

Shows / Not show the origin of corresponding settings.

When the checkmark is not placed in [Visible], the [Origin] checkbox is grayed.

  • Not visible: Uncheck (default)
  • Visible: Check

XYLim

If the XYLim is not defined yet, the check box is grayed.

You can set up from [Tools]-[Robot Manager]-[XYZ Limits].

Item Description
Pos. Shows the position of parameter that configures XYLim.
Visible Shows / Not show the plane in corresponding position.
  • Not visible: Uncheck (default)
  • Visible: Check
If Pos. All is checked, it displays all plane that configures XYLim. Not put in the check, they will be hidden. If it set to show some planes, the check box shows indeterminate state.

Points

Display the point display setting status in the point file. Switch to show/non-show all points.

Item Description
File Name Show a point file name.
Visible Shows / Not show all points
  • Not visible: Uncheck
  • Visible: Check
If it is set to show some points, the check box shows indeterminate state.

Point

If the point of the corresponding number is not defined yet, the check box is grayed.

Item Description
Label Shows a point label In the dialog, point labels cannot be configured or edited.
Visible Shows / Not show a point
  • Not visible: Uncheck (default)
  • Visible: Check

TIP

If you cannot see the [Visible] column, increase the property grid display width.

Force Control

Show the display method of the force objects in the force file. Switch visible and not visible of the all force objects.

Item Description
File Name Show a force file name.
Visible Shows / Not Show all force objects.
  • Not visible: Uncheck
  • Visible: Check
If it is set to show some force objects, the check box shows indeterminate state.

Force Object

Show the display method of the force control objects, force trigger objects, and force monitor objects in the force file. Switch visible and not visible of the all force objects of the specified type.

If there is no force object of the specified type, the checkbox is grayed.

Item Description
Type Control (force control), Trigger (force trigger), and Monitor (force monitor) are shown.
Visible Shows / Not Show all force objects of the specified type.
  • Not visible: Uncheck
  • Visible: Check
If it is set to show some force objects, the check box shows indeterminate state.

Force Control, Force Trigger, Force Monitor

When the force object of the corresponding number is not defined yet, the checkbox is grayed.

Item Description
Name Show a force label. In the dialog, force label cannot be configured or edited.
Visible Shows / Not Show the force object.
  • Not visible: Uncheck
  • Visible: Check

Force Guide

Show the display method of the force guide object in the sequence which is set by the force guide, and switch visible and not visible of the all force objects.

Item Description
Sequence Show a force guide sequence name.
Visible Shows / Not Show the all force objects.
  • Not visible: Uncheck
  • Visible: Check
If it is set to "Visible" for some force objects, the check box shows indeterminate state.

Force Guide Object

When the force guide object type of the corresponding number (a step number in the sequence) is "Decision" or "SPELFunc", the checkbox is grayed. When the [Enabled] property of the object is set to "False", the [Name] is also grayed.

Item Description
Name Show a force guide object name.
Visible Shows / Not Show the force guide object.
  • Not visible: Uncheck
  • Visible: Check

Force Sensor

By registering Force Sensor, "Force Sensor" is displayed in the layout object.

Property Value
Number Displays a sensor number registered in the controller.
Label Displays a sensor name registered in the controller.
Visible
  • Display: True (default)
  • Not display: False
Show Label
  • Displays the label: True
  • Not display the label: False (default)
Model Displays a model registered in the controller.
Flange Displays a flange determined by combination of the robot and Force Sensor (default). Select "None" to hide.
Show Flange Offset
  • Display: True
  • Not display: False (Default)
Specifies whether to display the flange offset position in coordinate system.
Show Sensor Tip
  • Display: True
  • Not display: False (Default)
Specifies whether to display the tip position of Force Sensor in coordinate system.

For properties such as "Collision", "Collision Margin" or "Transparent", refer to the hand or layout objects properties.

Hands

Show a status of Visible and Collision of the configured hand.

Item Description
Name Shows a hand name.
Visible Shows / Not Show the hand.
  • Not visible: Uncheck
  • Visible: Check
Collision Enable / Disable the collision detection.
  • Disable: Uncheck
  • Enable: Check

Hand

When a hand is registered with a robot, "Hand" is added in the Layout Objects tree.

Property Value
Name

Hand name

You can specify any name for a hand. (Default: Hand_1)

Mounted Position

Hand mounting position

It can be attached to Force Sensor or Tool coordinate system.

Offset Position Mounting offset from the robot end effector position.
Offset Rotation Hand mounting direction
File name CAD data file name of the hand. It cannot be changed.
Save as XVL…

The loaded hand object can be saved in the XVL format. Click [...] and specify the destination.

When XVL-format hand data is loaded, this item is grayed out and cannot be used.

Rendering Quality Set the rendering quality.
  • Standard: Default
  • Quality-preferred: Fine
  • Speed-preferred: Fast
Unit Set the unit of length for the CAD data.
Scale Set the scale ratio of the CAD data.
Visible
  • Display: True (default)
  • Not display: False
Show Label
  • Displays the label: True
  • Not display the label: False (default)
Show Origin
  • Displays the origin coordinate system: True
  • Not displays the origin coordinate system: False (default)
Collision Property Value
Check Enables / disables the collision detection.
  • Enable: True (default)
  • Disable: False
Collision with the robot flange is not detected even when this property is set "True".
Color

Specifies a color to be displayed when detecting a collision.

Default: 168,0,0

Collision Margin Property Value
Visible
  • Display: True
  • Not display: False (Default)
Size Margin size
Color

Margin color

Default: 255,216,0

Check Enables / disables the collision detection.
  • Enable: True
  • Disable: False (default)
CollisionColor

Specifies a color to be displayed when detecting a collision.

Default: 168,0,0

Transparent
  • Semi-transparent: True
  • Not semi-transparent: False (default)

The front-back relation of the objects may be incorrect depending on the viewing angle. See details below.

Simulator Specifications and Restrictions

Transparency Specifies the transparency in the range of 1 to 90%. Transparency increases as the setting value becomes larger.

Safety Function

If option of safety function is enabled, "Safety Function" is displayed in the layout object. Shows robot monitored range and monitored areas are displayed or hidden, and also shows status of collision. Moreover, it switches visible and not visible of robot monitored range and monitored areas, and switched enabled and disabled of collision detection.

Item Description
Type Displays Range of robot monitored range, and Areas of robot monitored areas.
Visible Shows / Not Show the robot monitored range and monitored areas.
  • Not visible: Uncheck
  • Visible: Check
If it set to show some robot monitored range and monitored areas, the check box shows indeterminate state.
Collision Enable / Disable the collision detection for the robot monitored range and monitored areas.
  • Disable: Uncheck
  • Enable: Check
If collision detection of some of robot monitored range and monitored areas enabled, the check box shows indeterminate state.

Monitored Range

Shows robot monitored range are displayed or hidden, and shows the enabled and disabled of collision detection.

Item Description
Joint

Display joints that able to be set of robot monitored range.

If it is SCARA robot, displays J2 or J3. If it is 6-Axis robot, displays J2, J3, J5, and J6.

Visible Shows / Not Show the robot monitored range.
  • Not visible: Uncheck
  • Visible: Check
Collision Enable / Disable the collision detection for the robot monitored range.
  • Disable: Uncheck
  • Enable: Check

Monitored Areas

Shows monitored areas are displayed or hidden, and shows status of collision detection. Also, it switches visible and not visible of monitored areas, and switches enabled and disabled of collision detection.

Item Description
SLP Displays monitored areas SSLP_A, SLP_B, and SLP_C.
Visible Shows / Not Show the robot monitored range.
  • Not visible: Uncheck
  • Visible: Check
If it set to show some robot monitored areas, the check box shows indeterminate state.
Collision Enable / Disable the collision detection for the robot monitored areas.
  • Disable: Uncheck
  • Enable: Check
If collision detection of some of robot monitored areas enabled, the check box shows indeterminate state.

SLP_A, SLP_B, SLP_C

Shows each plane that configures monitored areas are displayed or hidden, and shows status of collision detection. If the plane in corresponding position is not defined yet, the checkbox is grayed.

Item Description
Pos. Display X1, X2, Y1, Y2, Z1 and Z2 as a plane that configures monitored areas.
Visible Shows / Not Show the plane that configures monitored areas.
  • Not visible: Uncheck
  • Visible: Check
Collision Enable / Disable the collision detection for the plane that configures monitored areas.
  • Disable: Uncheck
  • Enable: Check

← Layout Objects →

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