Robot Analysis

The Robot Analysis preferences let you customize how the tool center point (TCP) limit transgressions appear in your simulations.

Select the Robot Analysis tab to access setting for how the simulation responds to these transgressions.

This page discusses:

Tool Center Point (TCP) Limit

These settings determine what behavior you can expect from the system when a simulation exceeds TCP limitations. The following discrete limits comprise the TCP limitations:
  • Linear Speed Limit
  • Rotational Speed Limit
  • Linear Acceleration Limit
  • Rotational Acceleration Limit

The analysis level choices are:

Off
The simulation takes no action in response to a transgression of the limits.

By default, in the case of TCP limits, the simulation response is Off. The initial color settings are yellow for the speed limits and white for acceleration limits. Reachability is highlighted in dark red; Singularity is highlighted in red.

Highlight
Selecting this option results in the highlighting of the geometry involved in the transgression. You can select the color for the highlights. The highlighting also occurs in Verbose or Interrupt mode.
Verbose
Selecting this option results in the display of a message. This message also displays in Interrupt mode.
Interrupt
Selecting this option results in the interruption of the simulation.
Reachability
This option determines the behavior color for the reachability of the device.
Singularity
This option determines the behavior color for the singularity of the device.

Robot Cable Limit

These settings determine what behavior you can expect from the system when the simulation exceeds Robot Cable limitations. The following discrete limits comprise the limitations:
  • Length Condition
  • Bend Radius Condition

The analysis level choices are same as Tool Center Point (TCP) Limit

Tool Volume

These preferences determine the behavior color for the tool volume.
  • Tool Volume Color