Everything below can be read and changed through the UI commands of the command API, without screenshots. The list was produced by the API itself (ui_actions, ui_list with hidden), so it matches the program. A control is given by its id from ui_list or by its label (+ path, type, window); labels are those of the English user interface (the German interface: Deutsch). Lists of robots, programs and points depend on the loaded cell and are read with ui_view.

The options of the Simulation tab can also be set without the UI commands: set, run (also up), fast_run, sim_options, sim_action, live_check, zones (mode), view, robot, collision_ignore, collision_report, race_rules, race_study (below), report_open, model_converter, model_cache (below) and robust_test – see Commands. Without the additional license API / CLI only reading commands work.

The WARTE ZEIT commands of the robot programs, shown in the window only as warnings in the console and in the report (section 3. What to check), are read with wait_times (optional robot = part of the robot name; answer waitTimes [{robot, program, point, command, seconds, condition, line}], count, secondsTotal, note) – reading, without the license API / CLI, also while the simulation runs; status gives their number (waitTimes), the run file *.rcsrun.json has the array waitTimes.

The camera of the 3D view (mouse wheel, panning) is set with view: zoom (factor 0.01..100, > 1 closer) and target ([x, y, z] mm, the center of the view); every answer of view contains camera {target, scale, distance} after all changes of the command (target [mm] the center of the view, scale the height of the view at the target [mm], distance = scale / (2·tan 22.5°) the distance of the camera in the perspective, angle of view 45°). In one command standardView is applied first, then fitAll / viewAll, then target and zoom: {"cmd":"view","standardView":"default","target":[x, y, z],"zoom":6} keeps the target. The 3D view itself is the control view3d of ui_list: ui_context with its id opens the context menu of the view, ui_key sends the keys of the view (Control panel and windows). status gives fps (frames of the view drawn per second, drawing on request) and viewSyncMs (mean time of the GUI thread per frame for taking the changes of the scene into the view, ms), both -1 in the variant with the JT reader; since 2026-10-25 also glRenderer (graphics card of the view: renderer / vendor / OpenGL version, as in the console line 3D view: graphics card ...) and paintFps (paintings of the widgets of the 3D view per second since the previous status, also in the variant with the JT reader; in the Qt3D variant fps counts); since 2026-10-26 also the object memory (privateMB, workingSetMB, peakWorkingSetMB, peakPagefileMB) and the diagnostic command memory_trim. The answer of robot contains flange ([x, y, z] mm, the flange position of the robot in the scene) – to zoom on a robot tool: {"cmd":"view","target":[x, y, z],"zoom":6} with the flange values, then scene_shot; toolKind (cad / dummy / none) and toolText tell whether the robot has the CAD model of its real tool or a dummy tool (an approximation in the work zones and the 3D collision check; a robot with a 3D model of its tool has no dummy tool). The elements mounted on a robot: tool_info, tool_remove, tool_hide / tool_show (robot menu Mounted elements and Remove duplicate models). With view collisionPlaces true the places of the collisions of the last run are spheres in the scene (red = 3D contact, yellow = 3D proximity without contact, violet = risk from the work zones; colors: view collisionPlaceColor3D / collisionPlaceColorZone / collisionPlaceColorProximity); the answer of collision_case action "points" contains point ([x, y, z] mm, the sphere of the shown contact) – {"cmd":"view","target":point,"zoom":6} before scene_shot shows the place with both robots in their axes at this contact. A 3D case keeps up to 4 places of contact more than 400 mm apart, and one row can group several cases – each place has its own sphere, time and robot axes (so there can be more spheres than rows): the first call shows the first place of the row, every repeated call with the same key the next one (after the last one again the first); the key of one contact shows exactly this contact. The answer also has place / places (3D rows) and shown (what the 3D view shows). For a work zone row the robots go to the program points and the 3D models are checked once in this pose: touching = orange sphere (3D contact in the program points) and a console warning, otherwise the closest distance – this result comes about 0.2–6 s later in the console. collisionPlaceLabels false hides the texts above the spheres.

The group Cartesian (TCP) of the tab Robot Axis (Cartesian jog) has the command robot as its equivalent: tcp {tool, base} reads the TCP position in the selected tool and base (answer tcp and tcpScene), moveTcp {x, y, z, [a, b, c], tool, base, frame} moves the TCP there with the same inverse kinematics as the − / + buttons (S / T of the current position); with frame "scene" the target is given in the scene, e.g. the tcpScene or flange of another robot. The robot menu Find all programs (Model Browser) is rebuildPrograms true: the program tree is built again and new or changed Folge / UP files of the archive are read. The answer of robot also contains base (the robot base in the scene).

An image of the 3D scene alone (OpenGL, with labels and decorations, like the scene image in the reports) is written with scene_shot {"cmd":"scene_shot","file":"C:/temp/cell.png"} (answer file, bytes) – reading, without the license API / CLI, like ui_shot for windows and controls.

Menu actions

{"cmd":"ui_click","action":"File > Open file"}; actions with a state (check mark) also ui_set true / false.

Without dialogs: File > Open file is also the command open (paths of File > Wizard as systemRoot / robotArchives), File > Insert robots at study positions the command insert_study_robots. The title bar of the window shows the full path of the opened simulation file and of the cell / study ({"cmd":"ui_windows"}, field title).

Control panel and windows

Request race windows (race_study)

At the end of a station simulation or a Robustness test with request races the window Request race found comes; after the simulation of both orders the window Simulation of both orders - result (see Request races: proposal and simulation of both orders). The simulation never changes the SPS program by itself. Every control of these windows has the command race_study; errors are always in English.

The command:

Typical flow of an agent: run → wait for the end (status) → race_study status → start {cycles: 3} → wait until active is false → read result → apply {choices: [...]} → save {raceBlocks: "keep"}. The answer of race_rules also has proposals.

Since 2026-10-25 the windows of this section (Request race found, Request races, Simulation of both orders - result) and Simulation finished / Collision risk in the simulation are not opened at the end of a run, test or study started or stopped through the API – read their content with race_study status, run_data and status.lastRunMessages instead of the ui_* commands. In the GUI only one window Simulation finished is open at a time: the next end of a run replaces its text.

Settings dialog (Settings > Configure...)

Open with ui_click on Settings > Configure..., change the controls, confirm with OK; the same values are also stored as settings_get / settings_set keys of RCS_Group.