DReS Robot Cell Simulator - Programs and Paths: Folgen, UPs, Paths of All Robots in 3D (YouTube, English)Program tree
 |
The Programs panel shows the Folgen and UPs of the current robot from its archive. An expanded program lists its points with motion type, velocity, approximation, tool, base and trigger, and the comments of the program (folds, interlocks, subprogram calls). The column Time shows the last motion time of the program calculated by the motion planner (estimate): a Folge = the whole run with the called UPs, a UP = its last call. Hover a point: the tooltip shows the motion time from the previous point and from the start of the program. Context menu:
|
Paths
The eye icon next to a program draws its path in the 3D view – with the motion planner (Motion tab) as the real path: PTP blue, LIN green, CIRC orange, approximated corners included. Point labels (P7, UP81/P3) can be switched on or off.
Simulation → Show Folge path for all robots... (or Show UP path...) draws a program with the given number for every robot of the cell, optionally with the subprograms called in its points.
Running a program
| Button | Function |
| ▶ | runs the selected program of the current robot (continuous mode) |
| ● | records the TCP and the tool position during the motion (View → Show robot recorded path) |
| |◀ ▶| | moves to the previous / next point (single step) |
| ■ | stops the program |
| slider | speed of the animation |
| Editor, Follow the editor | Editor opens the selected point in the DReS editor; with Follow the editor the robot moves to the point under the editor cursor (see below) |
The subprograms called in the points (UP calls) are executed according to the Program flow options in the Simulation tab; the console lists every entered UP and every ignored condition. Without the simulation license a single program is moved with axis interpolation.
Breakpoints
Breakpoints are set in the context menu of a point. A running program stops at a breakpoint; in the Simulation tab Stop on breakpoints applies them also to Run on all robots.
Touch up
Touch up writes the current position of the robot (jogged in the Robot Axis tab or reached by a program) to the selected point, in the tool and base of the point. Before anything is written a dialog shows the old and the new position, the distance and the .dat file that will be changed – the default answer is No.
The console logs the new value and the previous value of the point, so a change can be reverted by hand.
Point in the editor, Follow the editor
- Editor (below the program tree) – opens the program of the selected point in the DReS editor and puts the cursor on the fold of the point (a selected program is only opened).
- Follow the editor – when the cursor in the DReS editor moves to a point of a program of a robot in the cell (folder Folgen / UP of the robot archive), the robot moves to this point (inverse kinematics with S / T of the point). The console names the robot and the point. The point data are read from the saved file – save the program after changing coordinates. Nothing happens while a program runs.