Epson RC170 Guia do Utilizador descarregar pdf (Página 235)

8. Simulator

Button Description

Create Movie

Plays a simulation result (log file) in the Playback mode and saves

into a movie file. A dialog appears to s

ecify the file and format

to save.

Elapsed Time

Shows the program execution time as if you ran the same progra

with a real controller (RC180/RC90).

When a program starts, the elapsed time counter counts from 0 an

stops when the program finished. It pauses counting when the

program is paused and resumes when the program continues

execution.

Clear Elapsed Time

Resets the elapsed time.

Clear end

effector path

Clear the end effector path which the robot displays.

(2) Layout Objects Pane

The Layout Objects pane shows the robot objects and layout objects in a tree format.

When you right-click on a layout object, the deletion menu appears.

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 r

obot itself. The display data is handled by the simulator.

Hand : The hand is created by loading CAD data (VRML2.0, STEP, or

IGES) from a file.

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

Object to reflect robot point data : Point, Pallet

◆ 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 (VRML2.0, STEP, or

IGES) from a file.

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