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Each program can contain multiple operations. An operation contains all of the information established on the Task side of Robotmaster, in addition to settings specific to robot control.

Navigation

  1. Open or create a new part programming session.

  2. Ensure a device is loaded.

  3. Ensure at lease one operation is assigned to a program.

Operation Information

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Kinematic and Collision Status

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The colored circle represents the kinematic viability of the operation.

  • White - Uncalculated.

  • Green - GO - No kinematic issues.

  • Orange - Over travel detected.

  • Red - Join limit or out of reach.

The red lightning bolt represents a collision in the operation.

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 Anchor

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The drag anchor allows you to click and drag operations to reorder them.

Show/Hide item

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The eye symbol allows you to hide or show the operation. Hidden operations will be ignored when calculating.

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.

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.

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.

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.

If a processor is loaded, some processor settings may also be able to be overridden at the operation level.

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