Device Analysis

The Device Analysis settings let you customize how the degrees of freedom (DOF) limit transgressions appear in your simulations.

Select the Device Analysis tab to access settings for how the simulation responds Degrees of Freedom (DOF) Limit transgressions.

This page discusses:

Degrees of Freedom (DOF) Limit

These settings determine what behavior you can expect from simulations that exceed DOF limitations. The choices are:

Off
The simulation takes no action in response to a transgression of the limits.
Highlight
Selecting this setting highlights the geometry involved in the transgression. You can select the color in which highlighting occurs. The highlighting also occurs in Verbose or Interrupt mode.
Verbose
Selecting this setting displays a message when the simulation transgresses the limits. This message also displays in Interrupt mode.
Interrupt
Selecting this setting interrupts the simulation.

The DOF limitations are enabled when you use Analysis Configuration and Analysis Mode On/Off.

Travel Limit
A user- or manufacturer-determined limit on movement of each joint in a device. Only the driven part (the part driven by the command) show color. Not all parts belonging to the command or joint show color.

By default, the color selection is red; the Travel Limit is Off.

Velocity Limit
The maximum speed at which a device may move.

By default, the color selection is yellow; the Velocity Limit is Off.

Acceleration Limit
The maximum acceleration rate for a device.

By default, the color selection is white; the Acceleration Limit is Off.

Caution Zone
A user-created zone that may be an absolute number that is added to the travel limit, or it may be a percentage of the travel limit. The caution zone exists only in the CAM world; it does not exist in the robot controller. It enables users to leave a margin so that when calibration and other adjustments occurred in the real world, the travel limits are not exceeded.

By default, the color selection is red; the Caution Zone is Off.

Axis Safety Zone

Axis Unsafe Condition allows you to determine the behavior you can expect from the simulation when the axis condition is unsafe. The options for these behaviors are described here. You can also select a color for the highlighting.

Conveyor Network

Connectivity Tolerance allows you to specify the connectivity tolerance for your network.