Record / Playback

Select [Record] from the right tab of the simulator window to display the Record panel. In Playback mode, you can record and produce simulation results.

Record (simulation mode)

Selecting the [Record] tab in the upper right corner of the simulator window allows you to set up simulation results for recording.

Item	Description
Log	Specifies a log file for recording.
Folder	Specifies a folder to save the log file.
Start Recording/Stop Recording	Starts and stops recording. Once the log file is specified and the [Start Recording] button is pressed, recording is ready.

Playback (playback mode)

Item	Description
Reset Collision	Resets the collision detection status. When you click this button while the robot is not interfering with any layout objects, the red display turns to normal.
Simulator Settings	Shows the [Simulator Settings] dialog. In this dialog, the 3D [Render Options] can be configured.
Screenshot	Saves the current 3D display as an image file. The [Save As] dialog box appears, allowing you to specify a file name and file type (JPEG or PNG format).
Create Movie	Plays a simulation result (log file) and saves into a movie file in MP4 format. The [Save As] dialog box appears, allowing you to specify a file name.
Elapsed Time	Displays the run time of the log file being played.
Clear TCP path	Clear the TCP path (including Render Singularity Avoiding path) which the robot displays.
PLAY	Plays a simulation result of a specified log file.
STOP	Stops the simulation playback.

Outputting robot motion to log file

To reproduce the results of a simulation later, the robot's motion (action) must be output to a log file.

1. Confirm that the mode is “Simulation” mode on the Simulator toolbar.

   

2. Select the [Record] tab in the upper right corner of the simulator window to display the [Record] window.

   

3. Enter a name for [Log].

4. Click [Folder] to set the folder where the log will be saved.

5. Click [Start Recording].

   The icon next to the log file name changes fromto, and recording is ready. A message prompting program execution appears.

6. Run the program.

   When program execution is complete, recording will automatically end. When recording has ended, the icon next to the log file name changes fromtoand a log file with the specified name is generated in the specified folder.

KEY POINTS

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During recording, the [Start Recording] button changes to the [Stop Recording] button. To stop recording, press the [Stop Recording] button.

Reproducing robot motion from log file

1. From the simulator toolbar, change the mode from “Simulation” to “Playback”.

   

2. Select the [Playback] tab in the upper right corner of the simulator window to display the [Playback] window.

   

3. From the [Log] drop-down list, select the log you want to reproduce.

4. Click the [Configure] button. The configuration window will appear.

   

5. Select the target robot from [Robot No.].

6. The playback function graphically displays joint movements. Enter the [Graph Name] and click the [Add] button.

   

7. Select a joint to graph, and then click the [Run] button. A graph window appears.

   

8. Click the toolbar  [Playback] button to replay the logged operation.

Graph window functions

Symbol	Description
a	Select the joint whose value will be checked.
b	The selected joint's value is displayed.
c	Drag the vertical indicator with the mouse to adjust the playback position.
d	You can reset the window to its initial display or export data to a CSV file.