Graphics Tab

Description

The Graphics tab provides a graphical representation of the running program.

The buttons in the top-right side of the Graphics tab pane can disable the graphics in 3D view.

 

 

The 3D drawing of the robot arm shows the current position of the robot arm.

The shadow of the robot arm shows the robot arm's intended path to reach the waypoint selected in the left hand side of the screen.

 

The path of the TCP is shown in 3D view as follows:

  • The motion segments are black.

  • The blend segments (transitions between motion segments) are green.

  • The green dots specify the positions of the TCP at each of the waypoints in the program.

 

Planes

A plane is a boundary that limits the movement of the TCP. A plane can also limit the movement of a tool.

A 3D representation of the plane appears in the pane when the TCP, or tool, comes close to a plane.

  • You can zoom in to the 3D view to get a better view of the robot arm, TCP or tool.

  • You can use two types planes to limit TCP and tool movement.

 

Safety Planes

Safety planes appear in the 3D view in yellow and black. An arrow indicates which side of the plane the TCP is allowed to be positioned.

 

Trigger Planes

Trigger planes appear in the 3D view in blue and green. A small arrow points to the side of the plane, where the Normal mode limits (see Software Safety Modes ) are active.

The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool. The inside of the cone represents the allowed area for the tool orientation (vector).

Limits

When a program is running, the 3D view of boundary limits are disabled.

When the TCP is no longer close to any limit, the 3D view disappears.

 

  • You can set tool orientation boundary limits that appear in the 3D view as a spherical cone together with a vector indicating the current orientation of the robot tool.

    The inside of the cone represents the allowed area for the tool orientation (vector).

  • You can also set red limits that appear red in the 3D view when the TCP is in violation, or very close to violating a boundary limit.