DReS Robot Cell Simulator - Simulate the Whole Cell: All Robots, Real Time, Motion Planner (YouTube, English)Run on all robots Simulation
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The Simulation tab starts the same program (e.g. Folge 12) on all robots of the cell at the same time. Loops repeats the run, Stop on breakpoints uses the breakpoints of the programs, Stop all stops all robots. The same command is in Simulation → Run program on all robots.... The Speed scales the animation from 25 % to 400 % of real time. |
Program flow
The controller inputs and the PLC are not simulated, so the conditions of the programs are evaluated as follows:
- UP calls – All calls (conditions ignored) executes every subprogram called in a point, other options limit the calls,
- Stop at 'WARTE BIS AUS' – the robot waits at the end-of-cycle wait and continues with Continue (Quitt),
- Stop at every 'WARTE BIS' – every wait for an input stops the robot until Continue,
- Show the axis values of every point in the console – for checking positions.
The options apply to the single program run and to Run on all robots.
Motion planner Simulation
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With Real motion (motion planner) the robots move like the controller: PTP synchronized in the axes, LIN and CIRC along the path, with acceleration and approximation of the corners. Real time (1:1) sets the animation speed to 100 %. The parameters adjust the estimate: program override, PTP acceleration time, path acceleration (from robot archive = DEF_ACC_CP of $config.dat), orientation velocity and approximation. Default values restores them. Draw the real path draws the planned path instead of straight lines between the points. Machine data of the selected robot writes the axis velocities read from the machine data to the console. |
Motion times Simulation
The table Motion times collects the planned time, the progress, the number of points, the status and the start time of every program run per robot; click a header to sort. Export... saves a CSV file (opens in Excel) with the table and the time of every point (program, point, step such as UP81/P3, motion type, time from the previous point and from the start). Clear empties the table.