Previously users could only apply path ordering when inside a CAM operation (contouring, welding, etc). Now the users can order any Robot program with the context menu (right click → order…) to apply direct ordering on Device pane.From the device side, you can automatically order operations for any robot program. This can be done by right-clicking a program
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For multi-robot cells, path automatic ordering of operations on the Device device side is available for each robot individually.
The system takes the first non-home operation as the initial start point for optimizing the automatic ordering.
On Device side
For cases when there is more than one operation. If there is a single operation with multiple paths, that must be reordered on the task side.
First operation in the list is where the sequence starts.
Fast ordering
The fast ordering sorting algorithm uses the nearest neighbor approach. From Starting with the current first path, it goes to the algorithm finds the closest neighboring path to the current path, based on the start and end points of the two paths in 3D space. It proceeds to the next closest path until the entire sequence is complete.
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Optimized ordering
(minimized robot travel distance (or time?)
The distance would be calculated for a linear move, and not a joint moveThe Optimized ordering sorting algorithm attempts to minimize overall robot travel distance for the entire sequence. Sometimes, this method will select a next path that is further away than others in order to optimize the entire sequence.
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For parts with only a few paths, the difference in Out of Process Time between Fast and Optimized ordering is minimal. The difference may be more noticeable for larger programs with many paths.
Apply Task ordering
Button to take order from the task side and override current order.
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