Positioner Programming Dialog Box

The Positioner Programming dialog box appears when you select Automatic Positioner Programming and allows you to define a range of operations that are assigned positioner values based on interpolation rules.

This dialog box contains controls for programming positioners.

General section

Task
Specifies the selected task that has a positioner to be programmed. If a robot was selected instead of a task, you can click the current Task value to view a list of active tasks.

Selecting a different task automatically refreshes the Motion Group list and updates the contents of the Results dialog box.

Motion Group

Motion Group allows you to select a motion group from a list of all motion groups managed by the current task that will be programmed. Click the current value to see the list of motion groups.

If a motion group contains one or more positioners, the Positioners list is refreshed to contain the names of those positioners.

Positioners

Positioners allows you to select a positioner to be programmed from a list of all positioners associated to the selected Motion Group. Click the current value to see the list of positioners.

Upon selecting a positioner, it is highlighted in the work area.

Jog
Jog allows you to show (On) or hide (Off) the Jog dialog box to view or modify additional kinematic properties. Click the current value to toggle between Off and On
Track
Track activates/deactivates tag tracking based on the selected operation. By activating this property and selecting an operation in the Results dialog box, you can manipulate the positioner axis/axes directly while having the robot TCP locked on the tag. Click the current value to toggle between Off and On.
Clash

Clash activates/deactivates clash analysis, which provides a visual clue of a possible clash between the object mounted on a positioner and a weld gun. When a clash occurs, both the object and the weld gun become highlighted:

Click the current value to toggle between Off and On.

Reach

Reach activates/deactivates reach analysis. When On, the welding object becomes transparent and the reach disc is displayed.

The reach disc provides a visual clue on how the roll angle (rotation around the z-axis) influences reachability. Each color of the reach disc has the following meaning:

  • Green: reachable
  • Yellow: reachable, but out of limits
  • Red: unreachable
  • Blue: clash area (available only when Clash is On)
Click the current value to toggle between Off and On.