Track

General Options

Display Moving Objects Panel

This option allows you to control the visibility of the Moving Objects panel when you are creating or editing a track.

• When selected, the Moving Objects panel is displayed automatically.
• Otherwise, the Moving Objects panel is not displayed automatically. However, you can display it at any time by clicking Preview in the Track: Anchor Positioning dialog box.

By default, this option is not selected.

Create Item Track when object is selected in 3D

• When selected and New Track is selected in the action bar, and if the first selected object is a product, then an item track is created instead of a product track. By default, the item that implements the selected product is considered as the moving object.

  If the selected product is not implemented by an item, the first parent that is implemented by an item is considered and the corresponding item is taken a moving object. However, if there is no item implementing any of the products, then a warning message is displayed and no track can be created.

• When cleared, selecting a product in the 3D results in the creation of a product track.

By default, the option is not selected.

Automatically Reverse Track after creation

When selected, all tracks are automatically reversed as soon as track authoring is completed.

By default, the option is not selected.

Highlight Moving Objects on Track selection

When selected, the moving objects are highlighted at a track selection. Moving objects can be products as well as capable and used resources.

By default, the option is not selected.

Highlight Moving Objects on Track simulation

When selected, the moving objects are highlighted at a track simulation. Moving objects can be products as well as capable and used resources.

Note: When Dynamic Clash is on or set to stop, moving objects are not highlighted during track simulation. However, clash objects are highlighted. Objects moved by the track that are not in clash are not highlighted.

Similarly, when an interference probe is played in a scenario, the highlighted objects are due to interference: track simulation does not highlight objects.

By default, the option is not selected.

Assembly Sequence Gantt

This option lets you group the planning and choreography activities separately in the Assembly Sequence Gantt chart.

Display Choreography at the end

When selected, all production system data under the assembly sequence is displayed at the top of the chart and choreography activities are displayed at the bottom of the chart.

Note: Tracks under excitations and assembly sequences containing production systems are also considered as nonchoreography data. For example, if an assembly sequence containing systems, operations and choreography activities is inserted under another sequence, it is considered as nonchoreography data and displayed at the top of the chart.

By default, the option is not selected.

Display Attributes of T-Points on Track Selection or Create/Edit of Track

Depending on the user settings, T-Point name and/or T-Point coordinates are displayed near a T-Point in 3D when the track is in Create/Edit mode or when the track is selected (selection of track can be from 3D, Tree, Gantt, or thumbnail).

T-Points are displayed as axes when the track is selected or when the track is in Create/Edit mode.

The following options enable you to switch on or switch off the T-Points name, coordinates, and axes display:

Name

When selected, T-Point name is displayed next to each T-Point.

By default, the option is not selected.

Coordinates

When selected, T-Point coordinates are displayed next to each T-Point.

By default, the option is not selected.

Orientation as Axis

When selected, T-Point orientation axis is displayed on each T-Point.

By default, the option is not selected.

Automatic T-Point Insertion During Track Authoring

While Mouse Moving

When selected, double-clicking the Record button and selecting Automatic T-Point Insertion (while mouse moving) activate this functionality. Then, when you drag the Robot, T-Points are inserted at user-defined intervals. You cannot rotate the Robot more than 180 degrees.

• Distance: Defines the linear interval when automatically inserting T-Points.
• Angle: Defines the angular interval when automatically inserting T-Points.

By default, the option is not selected.

Tilt Restriction

Angle Validation

When selected, you can select an axis (X, Y, or Z vector) and specify an angle in which the movement of the axis of the Robot is restricted.

• Vector: Defines the axis by the X, Y, or Z vector
• Angle: Defines the angle in which the movement of the axis of the Robot is restricted. If 30 degrees is the specified angle, you can tilt the axis from -30 to 30 degrees.

By default, the option is not selected.

Swept Volume Options

This option allows you to control the linear and angular accuracy of a swept volume. The more accurate the linear and angular are, the more accurate the discretization is. Discretization is the calculus of the number of steps to generate the 3D representation of the swept volume.

Depending on the type of motion of a moving object between two T-points and considering the type of interpolator for the track, the appropriate accuracy value is used to discretize the track.

If there are both linear and angular motions in a segment, the accuracy value used is the one giving the most number of steps.

The steps representing bounding T-points are used to calculate the swept volume when segments of a linear or composite spline track represent two steps in a linear motion.

The total number of steps for a track is the sum of the steps in each of its segments. The overall number of steps depends on the length and complexity of the track

Linear Accuracy

Defines the linear accuracy, you can enter a value of 0.001mm or more.

By default, the accuracy is set to 0.2mm.

Angular Accuracy

Defines the angular accuracy, you can enter a value of 1 degree or more.

By default, the accuracy is set to 5 degrees.