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, Arm, 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
  • Arm: Arm 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.

KEY POINTS

Arm can only be displayed by Epson RC+ Standard Edition and Premium Edition.

Tool

If the each setting of the corresponding number is not defined yet, the check box is grayed out. It can be set using [Tools] - [Robot Manager] - [Tools].

Item Description
Visible Shows / Not show corresponding settings.
  • Not visible: Uncheck (default)
  • Visible: Check
Arm Select the corresponding Arm number.
You can choose Current Arm, Arm 0, or a predefined Arm.

The default is Arm 0.
This setting is available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, the display always uses Arm 0 as the reference.

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. Moreover, from the property grid, you can call the Safety Function Manager.

Property Value
Launch SFM To call the Safety Function Manager, press the  [Click to launch] button. Safety Function Manager appears.

If there is a change in the safety function parameter, [Safety Function] is displayed in red in the object tree, as shown in the figure below. In such a case, you must start the Safety Function Manager to reflect the settings.

Monitored Range

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

Item Description
Pos.

Displays "All" indicating all monitored ranges, or the joints for which individual monitored range can be set.

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

Radius

Radius of the robot monitored range

Specifying a radius for "All" sets the radius of all configurable joints at once. When you change the radius of some joints, the value of the radius for "All" becomes blank.

This setting is available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, make this setting from the Safety Function Manager.

Visible Shows / Not Show the robot monitored range.
  • Not visible: Uncheck
  • Visible: Check
Place a checkmark for All to display the monitored range of all configurable joints. Clear the checkmark to hide all monitored ranges. When you set the monitored range to display for some joints, the "All" checkbox shows an indeterminate state.

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
Type Displays "All" indicating all monitored areas, or individual monitored areas SSLP_A, SLP_B, and SLP_C.
Visible Shows / Not Show the robot monitored range.
  • Not visible: Uncheck
  • Visible: Check
Place a checkmark for All to display all monitored areas. Clear the checkmark to hide all monitored areas. When you set some monitored areas to display, the All checkbox shows an indeterminate state.
Collision Enable / Disable the collision detection for the robot monitored areas.
  • Disable: Uncheck
  • Enable: Check
Place a checkmark for All to enable the collision detection of all monitored areas. Clear the checkmark to disable the collision detection of all monitored areas. When you enable collision detection for some monitored areas, the All checkbox shows an indeterminate state.

SLP_A, SLP_B, SLP_C

Indicate whether each plane that configures the monitored areas is enabled or displayed, and also make the settings for the areas.

Property Value
Type Setting of the range of monitored areas
  • Wall
  • Restricted Area
This setting is available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, make this setting from the Safety Function Manager.
Visible Shows/Hides the planes that configure the monitored areas
  • True: Shows
  • False: Hides
Displays only the enabled planes in the case of True. Hides all planes in the case of False, regardless of whether the planes are enabled or disabled.
ShowLabel Shows / Hides "SLP_A(X1), SLP_A(X2), ..." as the object name
  • True: Shows
  • False: Hides
In the case of True, displays the object name only for the enabled planes.

This setting is available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, the object name cannot be displayed.

SimCheckCollision Enables/Disables collision detection in the simulator
  • True: Enables
  • False: Disables
Item Description
Pos. Display X1, X2, Y1, Y2, Z1 and Z2 as a plane that configures monitored areas. Also displays a checkbox for switching between enabling or disabling each plane.
  • Disable: Uncheck
  • Enable: Check

Select the header checkbox to enable all monitored areas. When the Visible property is True, displays the monitored areas. Clear the header checkbox to disable and hide all monitored areas. When some monitored areas are enabled, the header checkbox shows an indeterminate state.

Enabling or disabling of each plane is available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, make this setting from the Safety Function Manager.

Value

Position of planes that configure the monitored areas

This setting is available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, make this setting from the Safety Function Manager.

SLS

Sets the TCP Offset value, a parameter of Safety Limited Speed, and specifies whether to show or hide it.

Setting and display are available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, only the TCP Offset position can be set from the Safety Function Manager.

Property Value
X, Y, Z Offset from the position of Tool 0
Visible Shows/Hides the dots at the offset position
  • True: Shows
  • False: Hides
ShowLabel Shows/Hides "TCPOffset" as the object name
  • True: Shows
  • False: Hides
ShowOrigin Shows/Hides the coordinate system at the offset position
  • True: Shows
  • False: Hides

Soft Axis Limiting

Shows/Hides the setting range of Soft Axis Limiting, and configures the setting.

Setting and display are available only with Epson RC+ Standard Edition and Premium Edition. In the Basic Edition, only the Soft Axis Limiting value can be set from the Safety Function Manager, but the setting range cannot be displayed.

Property Value
Fit to Range To set the limiting value of each axis to the same value as the setting of the Range, press the  [Click to change] button.
Fit to Min/Max To set the limiting value of each axis to the same value as the minimum value and maximum value of the range that can be set, press the  [Click to change] button.
Item Description
Pos. Displays All indicating all joints, or the joints for which individual motion monitoring range can be set.
Displays only J1 to J4 for a SCARA robot. For a 6-axis robot, J5 and J6 are also displayed.

Lower-limit value

Upper-limit value

Motion range monitoring value of each joint

When you specify the setting value for All, the motion range monitoring value of all joints is specified as a batch. When you change the setting value of some joints, the setting value of All becomes blank.

Visible Shows/Hides the monitored range based on the motion range monitoring value
  • Hides: Uncheck
  • Shows: Check

Place a checkmark for All to display the monitored range of all joints. Clear the checkmark to hide all monitored ranges. When you set to display some monitored ranges, the All checkbox shows an indeterminate state.

As for the motion range, the monitored range of each axis is displayed in yellow and the range is displayed in gray. A white indicator is displayed at the current angle position.

1. Display example of rotation axis
2. Display example of linear axis

Conveyor Tracking

Changes the display status of the configured conveyor tracking settings. This setting is available only with Epson RC+ Standard Edition and Premium Edition.

Property Value
Show Conveyor Origin Shows/Hides the origin of the conveyor coordinate system.
  • True: Shows
  • False: Hides (default)
Show Upstream Limit Shows/Hides the upstream limit of conveyor tracking.
  • True: Shows
  • False: Hides (default)
Show Downstream Limit Shows/Hides the downstream limit of conveyor tracking.
  • True: Shows
  • False: Hides (default)
Show TrackAbortLine Shows/Hides the tracking abort line of conveyor tracking.
  • True: Shows
  • False: Hides (default)
Show Queue Shows/Hides the queue information of conveyor tracking.
  • True: Shows
  • False: Hides (default)

KEY POINTS

Conveyor tracking simulation is available only with Epson RC+ Standard Edition and Premium Edition. Refer to the following video manual for an overview and detailed instructions.

(opens new window)

Sample connections and projects are provided for conveyor tracking simulation. It is also used in the video manual mentioned above.

From the Epson RC+ 8.0 menu, select [Project]-[Open Project], then select [Projects]-[SimulatorDemos]-[ConvTrack_GX8_C], and then select [RC800 Series]-[CnvTrack GX8-C] from the Epson RC+ 8.0 toolbar-[Connection Status] list box. You can actually check the operations and behaviors described in the video manual.

Conveyor

Once you add the conveyor tracking settings, "Conveyor" appears under "Conveyor Tracking" in the object tree. This operation is available only with Epson RC+ Standard Edition and Premium Edition.

Property Value
Name Conveyor name
Displays the "Name" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
Conveyor ID Conveyor ID
Type Tracking type
Displays the "Type" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
  • Vision: Vision conveyor tracking
  • Sensor: Sensor conveyor tracking
Motion Tracking direction
Displays the "Tracking Direction" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
  • Straight: Straight
  • Circular: Circular
Orientation Conveyor orientation
Displays the "Conveyor Orientation" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
  • Level: Installed level
  • Tilted: Installed tilted
Resolution Encoder resolution
Displays the currently set encoder resolution. It cannot be changed from the property grid.
Show Queue Shows/Hides the queue information of conveyor tracking.
  • Display: True
  • Not display: False (Default)

  • Conveyor Origin

    When associated with a conveyor object, the origin of the conveyor coordinate system can be displayed on the conveyor object. You can also see the current setting values.

    Property Value
    Visible Shows/Hides the origin of the conveyor coordinate system.
    • Display: True
    • Not display: False (Default)
    X, Y, Z, U, V, W Origin coordinates in conveyor coordinate system.
    Displayed as coordinate values in the simulator World coordinates. It cannot be changed from the property grid.

  • Upstream Limit

    When associated with a conveyor object, the upstream limit for conveyor tracking can be displayed on the conveyor object. You can also see the current upstream limit setting values.

    Property Value
    Visible Shows/Hides the upstream limit
    • Display: True
    • Not display: False (Default)
    Diagonal Diagonal upstream limit enabled/disabled
    Displays the "Upstream Limit" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    • Enable: True
    • Disable: False
    Limit Coordinates when diagonal upstream limit is disabled
    Displays the "X1" set value, which is the "Upstream Limit" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    X1, Y1, X2, Y2 Coordinates when diagonal upstream limit is enabled
    Displays the "Upstream Limit" set using [Tools]-[Conveyor Tracking]. This is the relative position from the conveyor origin. It cannot be changed from the property grid.

  • Downstream Limit

    When associated with a conveyor object, the downstream limit for conveyor tracking can be displayed on the conveyor object. You can also see the current downstream limit setting values.

    Property Value
    Visible Shows/Hides the downstream limit
    • Display: True
    • Not display: False (Default)
    Diagonal Diagonal downstream limit enabled/disabled
    Displays the "Downstream Limit" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    • Enable: True
    • Disable: False
    Limit Coordinates when diagonal downstream limit is disabled
    Displays the "X1" set value, which is the "Downstream Limit" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    X1, Y1, X2, Y2 Coordinates when diagonal downstream limit is enabled
    Displays the "Downstream Limit" set using [Tools]-[Conveyor Tracking]. This is the relative position from the conveyor origin. It cannot be changed from the property grid.

  • TrackAbortLine

    When associated with a conveyor object, the tracking abort line for conveyor tracking can be displayed on the conveyor object. You can also see the current tracking abort line setting values.

    Property Value
    Enable Tracking abort line enabled/disabled
    Displays the "Tracking Abort Line" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    • Enable: True
    • Disable: False
    Visible Shows/Hides the tracking abort line
    • Display: True
    • Not display: False (Default)
    Diagonal Diagonal tracking abort line enabled/disabled
    Displays the "Tracking Abort Line" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    • Enable: True
    • Disable: False
    Limit Coordinates when diagonal tracking abort line is disabled
    Displays the "X1" set value, which is the "Tracking Abort Line" set using [Tools]-[Conveyor Tracking]. It cannot be changed from the property grid.
    X1, Y1, X2, Y2 Coordinates when diagonal tracking abort line is enabled
    Displays the "Tracking Abort Line" set using [Tools]-[Conveyor Tracking]. This is the relative position from the conveyor origin. It cannot be changed from the property grid.

Conveyor calibration

A conveyor object set up in the simulator can be calibrated in the same way as a real conveyor. For details, see below.

Vision Conveyors
Sensor Conveyors

A conveyor object set up in the simulator can be simply calibrated based on the relative positions of the set conveyor object and robot object.

Select and right-click "Conveyor" in the layout tree to display the following context menu.

The following dialog box appears when "Calibrate with the simulator" is selected. Click the [Calibrate] button to automatically perform calibration based on the position and orientation information from the camera or sensor and the conveyor.
Vision calibration must be performed before setting "Vision" as the conveyor tracking type. For details about vision calibration, refer to the following manual.

"Vision Calibration" in "Vision Guide 8.0 Software"

State

Item Description
Name The name of the conveyor to be calibrated is displayed.
This is the conveyor name selected in the layout tree.
Calibrated Displays whether calibration has been performed.
Type Displays the conveyor tracking type.
  • Vision: Vision conveyor tracking
  • Sensor: Sensor conveyor tracking

Conveyor origin

Item Description
Camera If the conveyor tracking type is "Vision", select the camera object to use for calibration.
Sensor If the conveyor tracking type is "Sensor", select the detection area object to use for calibration.
Conveyor Select the conveyor object to use for calibration.

KEY POINTS

Tips for simple calibration

  • Whether or not a detection area object using a camera object is used depends on the conveyor tracking type set in the project conveyor tracking settings. For details on the conveyor tracking settings, see below.

    Configuring Conveyors

  • The +X direction of the conveyor object is forward. Place the conveyor object according to the transport direction in advance.

  • If the conveyor tracking type is "Sensor", the center of the detection area object becomes the origin of the conveyor coordinate system. Setting the center of the detection area object at a height close to the gripping position of the workpiece (part) makes it easier to adjust the gripping position later.

  • If the conveyor tracking type is "Vision", place the camera object to look down on the conveyor from above. Operation is not guaranteed when the camera object is placed to view from below.

  • If you move the conveyor object, detection area object, or camera object used for simple calibration, the calibration results are not updated automatically. Perform the simple calibration again.

  • When a simple calibration is performed, the conveyor tracking project file is updated and saved. If calibration was already performed using the actual device, confirm in advance whether it is okay to update the file.

  • Although it is possible to apply the results of the simple calibration to the actual device, its precision and operation is not guarenteed. Therefore, it may cause unexepcted operation of the robot and even damage workpieces (parts) and other peripherals. When using an actual device, make sure to always perform calibration in the environment of the actual device.

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