Simulation Menu

Contents

Introduction

| Simulation is started by clicking on the submenu Simulate Program from TR 2001 (Ctrl + S) In simulation mode, baskets are blue.

The testing is carried out in simulation mode running a robots program file. The instructions in the program are carried out independently for each robot. By using the predefined Response Objects the status of inputs can be simulated. The status of inputs can also be set manually by using the IO window for any virtual programming unit.

See also:
Create Response Objects

Clear All Response Objects

| You will have to set the inputs manually while simulating.

Rotation Time

Enabled for Robots with Rotation Grip.
Lids Response Time

| This is the default response time for inputs connected to the lid opened/closed detector switches. You can change this value individually for each response object.

External Liftout Upstroke Time

| This is the default response time for the input connected to the external liftout high position signal. You can change this value individually for each response object.

External Liftout Immersion Time

| This is the default time for starting the liftout sequence after enabling upstroke on the liftout. You can change this value individually for each response object.

Chain Step Time

| This is the default time for a complete turn of the chain gearwheel. A detector switch detects when the wheel is in step position. You can change this value individually for each response object.

Coordinates Location

This is used only for estimating the cycle time.
See Coordinates Location
Calculate Cycle Time

See Calculate Cycle Time
Quick Report Baskets

See Quick Report Baskets
Simulate Program from TR 2001

Asks for program to load and starts Simulation Mode
Use calculated movement speeds

When this menu is checked the graphics will move with 'real' robot speed (normally slower than the simulation speed)