The Auto solve feature is designed to solve kinematic errors and collision issues for operations automatically, without manual intervention. Auto solve works by trying different operations settings, including axis orientation, optimization, and rotary settings, to achieve an error-free solution.
Overview
Auto solve will attempt to fix the following types of issues in a program:
Singularity
Joint limit
Overtravel
Wrist flip
Out of reach
Collisions within the operation
Interferences within the operation
Auto solve will not attempt to fix:
Robot-to-robot collisions
Robot-to-robot interferences
Connections between operations, including transitions
Connections between home points and operations
When Auto solve is run, it first calculates any uncalculated operations. If kinematic errors or collisions exist, it uses the established axis calculation method, Spherical interpolation or Profile tracking, and then attempts to solve by adjusting operation settings including tool orientation, optimization plan, and wrist configuration.
For devices with an external rotary axis (such as a turntable), Auto solve will also attempt different rotary settings and angles to solve errors. This applies to external rotary axes with an “Index only” type.
Navigation
With a device loaded, Auto solve is accessible at the top of the Operations panel on the device side of Robotmaster.
Run Auto solve
Running Auto solve attempts to solve the focused item in the device side Operations panel.
Run Auto solve for all programs
On the device side, make sure that the focus is on all programs. Select the crosshairs (
) at the cell level if needed.Click Auto solve.
The results of the Auto solve are displayed at the bottom left of the screen.
Run Auto solve for a specific program
If your session has multiple programs, you can use device focus modes to calculate operations in a specific program only.
Select the crosshairs (
) next to the program you want to solve.
Click Auto solve.
Alternatively, you can use the program Auto solve button for a specific program.
With this approach, only active focus items in the program will be auto solved.
Run Auto solve for a specific robot
For multi-robot devices, you can set the focus mode to a specific robot to solve only operations for that robot.
Select the crosshairs (
) next to the robot you want to solve.
Click Auto solve.
Additional notes
Auto solve is performed at the program level, not at the operational level. It is not available in operation focus mode.
Auto solve behaves the same way as Calculate with respect to the following calculate options:
Calculate with collision
Calculate graphical transition
Calculate with processor
Certain special operation types are treated differently during Auto solve. For these types, Auto solve will not perform axis configuration setting and tool orientation adjustments when trying to solve:
TruTops weld teachline / TruTops weld teachine S3
Surface paths 6 axis type