Creating a Simulation Sensor

You can add a simulation sensor to a robot, a tool device or a human resource.

Simulation sensors are used by grab activities to detect in simulation transient workpieces.

See also Creating a Grab/Release activity.

Before you begin: A robot, a tool device or a human resource is loaded. At least one mechanical port is defined on the resource.
See Also
About the Sequencing Editor
  1. Select a resource.
  2. In the Sequencing panel, click Create Simulation Sensor .
    • The Simulation Sensor dialog box appears. Default values are already entered for the Beam Length, the Grabbing Port, and the Name of the sensor.
    • In the work area, the sensor beam is visible at the origin of the grabbing port.

    Note: The Grabbing Port list contains the list of the mechanical ports associated to the resource.
  3. In theSimulation Sensor dialog box, change the Grabbing Port.
  4. In the work area, use the Robot manipulator to define the position and angle of the sensor (double-click the Robot to see the precise sensor position).


  5. When the position is correct, click the checkmark to close the Simulation Sensor dialog box.
    • The sensor is no longer visible in the work area.
    • The new simulation sensor appears in the Sensor tab of the Resource Entities area in theSequencing panel.
  6. To modify any properties of the sensor, double-click the sensor name in the Resource Entities area.

This simulation sensor can now be used as parameter of a Grab activity.