Page Comparison

...

Playhead

The playhead indicates the current position in the simulation. It can be dragged to any position in the timeline.

...

Play and Skip controls

	Play or pause the simulation.
	Go to the previous or next operation in the timeline. When in Program focused mode with multiple robots, the simulation will cycle through the operations in a given robot before going on to the next robot.
	Go to the previous or next point in the Point List. Note that if Main Menu > Options > Task > Activate path interpolation is enabled, this will go to the next interpolated “step” when clicked.
	Go to the beginning.

Zoom controls

	Fit the entire timeline into view.
	Slide to change timeline zoom level. You can also use CTRL + mouse wheel on top of the timeline to zoom in and out.

Playback speed

...

Use the simulation speed button to modify the playback speed of the simulation. Speed options are: 0.25x, 0.5x, 0.75x, Real Time (1x), 1.25x, 1.5x, 1.75x, 2x, 4x, and 8x.

Repeat

...

Enabling repeat causes the simulation to play again from the beginning once it reaches the end, in a loop.

Focus modes for a device

On the device side, the scheduler will display programs and operations differently, depending on the focus mode that is active: All Programs, Program, Robot Program, or Operation.

See Device Focused Modes for more information.

Collision and interference indicators

Collision is indicated in red on the timeline, interference is indicated in orange.

...

Wait times and handshakes

For simultaneous multi-robot cells, operations from different robots can be coordinated using the scheduler. Wait times can be added to delay operations for a user-specified duration. Handshakes can be added to synchronize two or more operations to start at the same time.

...

See Delaying and synchronizing operations for multiple robots for more information.

Reorder programs

In the All Programs focus mode, programs can be reordered in the scheduler. See Reorder programs in the scheduler for more information.