Operation
- Andrew Haggerty
- John Pobedinsky
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
Open or create a new part programming session.
Ensure a device is loaded.
Ensure at least one operation is assigned to a program.
Operation Information
Kinematic and Collision Status
The colored circle represents the kinematic viability of the operation.
White - Uncalculated.
Green - GO - No kinematic issues.
Orange - Overtravel detected.
Red - Joint limit or out of reach.
The red lightning bolt represents a collision in the operation.
The orange lightning bolt represents interference in the operation
Red and orange lightning bolts overlaid indicate a collision and inteference.
User frame and Tool frame
UF - The user frame number referenced by the operation.
TF - The tool frame number referenced by the operation.
Drag Handle
The drag handle allows you to click and drag operations to reorder them.
Show/Hide item
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
The wrench button opens up the setup settings interface. Any setting adjusted here only affects the specific operation.
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
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