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Open or create a new part programming session.
Ensure a device is loaded.
Ensure at lease least one operation is assigned to a program.
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White - Uncalculated.
Green - GO - No kinematic issues.
Orange - Over travel Overtravel detected.
Red - Join Joint limit or out of reach.
The red lightning bolt represents a collision in the operation.
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The orange lightning bolt represents interference in the operation
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Red and orange lightning bolts overlaid indicate a collision and inteference.
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User frame and Tool frame
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UF - The user frame number referenced by the operation.
TF - The tool frame number referenced by the operation.
Drag
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Handle
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The drag anchor handle allows you to click and drag operations to reorder them.
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The eye symbol allows you to hide or show the operation. Hidden operations will be ignored when calculating.
Show/Hide operations is disabled for multi-robot setups to maintain proper scheduler functionality.
Settings
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The wrench button opens up the setup settings interface. Any setting adjusted here only affects the specific operation.
Axis configuration
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The axis configuration tab shows all of the controls to adjust how tool orientation is handled in the operation. For a detailed explanation, see the Axis configuration article.
| Note |
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NEED TO CREATE AXIS CONFIGURATION ARTICLE |
Optimization
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The Optimization tab gives you controls to adjust the tool vector dynamically over the duration of the operation. For a detailed explanation, see the Optimization article.
| Note |
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NEED TO CREATE OPTIMIZATION ARTICLE |
Safe approach/retract
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The Safe approach/retract tab allows you to add a safe approach point at the beginning of the operation, or a safe retract point at the end of the operation. These can be enabled and disabled by the toggles.
Motion type - Determines the type of move of the approach/retract point.
Axis - The axis that the point will be offset along. This axis is based off of the user frame referenced by the operation.
Value - The distance (in mm) along the Axis from the user frame referenced by the operation.
Waypoint
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The waypoint tab allows you to utilize the waypoint tree for approaching or retracting from the operation. For a detailed explanation, see the Waypoints article.
| Note |
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NEED TO CREATE WAYPOINTS ARTICLE |
Add override
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Some of the settings established at the cell, setup, and program level can be overridden in the operation settings. Any overridden setting will take precedence over any pre-established settings.
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 | Axis Configuration - Editing control of the TCP rotation around its Z axis. |
 | Optimization - Advanced optimization settings. |
 | Safe approach / retract - Adding approach or retract points to the operation. |
 | Waypoint - Adding waypoint transitions. |
Overrides
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Settings established higher in the hierarchy can be overridden.
Manipulator Setting - Manipulator setting
User frame number - Override the default user frame for the setup, based on the available user frames in the User frame manager.
Material deposition - Additive Module
Time estimation - Time estimation