Each setup can contain multiple programs. A program contains any operations assigned to it. In multi-robot setups, the program will also contain robot programs for each robot.
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Program Buttons
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Navigation
Open or create a new part programming session.
Ensure a device is loaded.
Generate robot code
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The paper icon is the Generate robot code button. Assuming the appropriate processor package has been loaded, the program will be translated to robotic code for implementation.
Auto solve
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The brain icon is the Auto solve button. When clicked it will automatically attempt solve any detected robotic errors.
Calculate
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The calculator icon is the Calculate button, which will process and validate the program’s tool path.
Delete
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The trash can button deletes the entire program, removing it completely from the file. Any previously assigned operations in the program will be moved to the Unassigned operations panel.
Show/Hide
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The eye is the Hide item button, which when clicked gets a line through it, and makes the program disappear in the button shows and hides the visibility of the program in the scheduler and viewport.
Settings
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The wrench icon is the Settings button, which when clicked will bring you to the program settings.
By default, with the program name at the top left.
Program Settings
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The prominent feature on the settings page is the Add override button. Upon clicking this button, a list of potential overrides is displayed. Initially, all overrides are listed in white text, indicating that the button is enabled. It is important to note that only one override of each type can be active at a time. Once a specific override is selected, its name is greyed out in the Add override list, and its corresponding icon is displayed in the left column above the Add override button.
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Time estimation
Home position
Manipulator setting
Material deposition
User frame number
Add override
Time estimation
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The Time estimation override settings contain 2 sections. Fallback speed settings include Linear speed, and Angular speed. Joint rate contains the Joint percentage setting, which --. All three of these aspects are set using text boxes, which take any numerical value over 0.
Home position
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The Home position override setting contains two aspects, Approach point and Retract point. These are the points at which the robot approaches or retracts from their starting and ending positions. Each aspect has two buttons. The first is only visible when one of the aspect’s
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row is being hovered over, the button will set the current position as the home point or retract point, depending on the row being hovered over. Another button available is Output to robot code, which functions as a toggle. Once selected, the button's icon changes, indicating that it has switched to Do not output robot code.
Manipulator setting
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The Manipulator setting override has settings for the Main tool chain, and Main path chain, with the option to collapse either using the button at the upper right of each section. There is also a Combine button, which --
Main tool chain
The Main tool chain settings have 4 aspects that can be changed using their respective dropdowns, the options for which are listed below.
Base: Front (T), Back (B), or Same
Arm: Up (U), Down (D), or Same
Wrist: Positive (F), Negative (N), or Same
Multi turn joints: Closest, or Automatic
Main path chain
– MISSING SOME STUFF HERE!!! --
Material deposition
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The Material deposition override contains 4 aspects that can be changed. Simulate deposition must be activated before these can be accessed.
Simulate deposition
To enable these overrides the depositing simulation must be enabled. This is done by switching on the Simulate deposition button to on.
Material width
The width of the simulated material can be changed to any numerical value up to 100 using the text box.
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Material thickness
The thickness can also be changed to any numerical value up to 100 using the text box.
Material shape
The simulated material deposition can either use a Circle or Square tip.
Material color
The color of the simulated material can be changed using ARGB sliders.
User frame number
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The User frame number override contains a dropdown where you can manually set the User frame number to 0 or 1settings do not contain any menus. Overrides of settings established at the Cell and Setup level can be added with the plus button.
Overrides
 | Time estimation - Fallback speeds and joint rates for time estimation. |
 | Home position - Editing of the default Approach and Retract points of the cell |
 | Manipulator setting - Editing of the tool and path chains |
 | Material deposition - Adjusting deposition simulation settings. |
 | User frame number -Override the default user frame for the setup, based on the available user frames in the User frame manager. |