Analyze Target Orientation Dialog Box

The following fields are available in the Robots area.

Robot

Select the robot whose target orientations you want to analyze.

Trajectory

Select the trajectory that you want to analyze

Available Tool Profiles

This lists the available tool profiles for this robot. You can select a tool profile, and use the move right button to put it in the Selected Tool Profiles list.

Selected Tool Profiles

This lists the selected tool profiles for this robot. You can select a tool profile from this list, and use the move left button to return the tool profile to the Available Tool Profiles list.

The following fields are available in the Feasibility area. These options are applicable to all the robots and all their welds.

Check for collision

If this check box is selected, feasibility is a requirement.

Analyze All

If this box is checked, the analysis continues even after a feasible solution is found and the analysis computes the feasible zone. Otherwise, the analysis stops after the first feasible solution and does not compute the feasible zone.

The following fields are available in the Parameters area.

Robots

Select the robot on which to do the analysis. For the robot you have selected, you can include or exclude specific robot parts in the collision list.

Click "..." and the Robot parts for clash dialog box appears.

Use the dialog box to specifically include or exclude the robot parts to the collision check. By default, all the parts of the robot are initially listed in the Included parts list. If you select the parts in the Included parts list they are highlighted in the work area. If you select parts and then click the move left arrow, the parts move to the Excluded parts list. Once you click OK, the Included parts are added to the collision for a specific robot.

Collision Objects

The algorithm performs a clash analysis between the coupled robot and tool and the objects defined in this list. You can select items for this list from either the tree or the work area.

Any selected object can be removed from this list using Remove.

Step Angle

The Z resolution defines the accuracy of the analysis. The TCP gets rotated by this angle all along the range of check.

Collision Tolerance

This tolerance is used for safety check. If the robot and gun get closer than this value to the collision objects, the two groups are considered in collision.

The following fields are available in the Range of Check area.

Start Angle / End Angle

By altering the values in Start Angle and End Angle, you can define the range of checks for the welds in the list.

Do Flip

If you select the check box, you enable the flip analysis (i.e., invert the Z axis). This option can be selected for one or more fasteners.