Robot

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This section introduces the robot and corresponding configurations.

Introduction

The first thing you will do when creating a project is importing a robot model. The robot model used in the software should be the same as that of the real robot in the actual application.

Robot Model

Mech-Viz provides built-in robot models of ABB, FANUC, KAWASAKAI, KUKA, UR, YASKAWA and other brands. It also provides an online robot library in which you can download the robot model you need and then Import the Robot Model. When there is no robot you need in the robot library, please refer to Create and Import the Robot Model.

Robot Features

Mech-Viz supports different features for different robots. Click Robot Features tab to view whether the robot features are applicable in Mech-Viz.

Set Soft Limits

Soft limits restricts the movement range of robot axes. A collision may occur if other devices are within the movement range of an axis of the robot. A non-standard gripper or robot dress packs may restrict the robot’s movement as well. In order to avoid collisions and unreachable poses in the path, you can set soft limits beforehand.

Robot Home Position

A home position is the original pose of the robot set by the user.

Configure the Robot

In the Robot panel, you can change the robot model, set soft limits, adjust the pose of the simulated robot, set the robot home position, move the real robot, and import the robot model to the software.

Change the Robot Model

If you have already selected a robot model in the Welcome interface and want to change the robot model, please follow the steps below.

  1. Click Robot Library.

  2. Input the robot model name in the search box or specify filter criteria to search the robot. If you cannot find the robot you need, please follow the steps below.

    1. Click Online robot library and download the robot model you need. If there is not the robot model you need in the online robot library, please refer to Create and Import the Robot Model.

    2. You can directly drag the robot model file to the software to import the downloaded model, or you can select Tools  Robot Library Tools  Import Robot and select the robot model file in the pop-up window.

    3. Search the robot model in the robot library again.

  3. Double-click the robot card, or hover the cursor over the robot card and click Select.

Set Soft Limits

  1. Click Set Soft Limits.

  2. Modify the lower limit and upper limit of each axis according to the actual requirement.

  3. Click OK.

The soft limits set in Mech-Viz will only take effect when Mech-Viz is used. It will not affect the soft limits set on the teach pendant.

Adjust the Pose of the Simulated Robot

Follow either of the steps below to adjust the joint positions of the simulated robot.

  • Click the Joint Positions tab, and drag the slider or enter a value in the box on the right to move the simulated robot in real time.

  • Click the Edit JPs button, enter the value in the text box and click OK.

Follow either of the steps below to adjust the TCP of the simulated robot.

  • Click the TCP Pose tab, and modify the values in Euler angles or quaternions to move the simulated robot in real time.

  • Click the Edit pose tab, enter the value in the text box and click OK.

  • If a real robot has been connected, you can click Update TCP Pose to synchronize the TCP from the real robot.

Set Robot Home Position

  1. Please refer to Adjust the Pose of the Simulated Robot to adjust the robot pose.

  2. Click Move simulated robot to home position.

When the simulated robot is in a different position other than the home position, you can click Move simulated robot to home position to adjust the robot pose quickly.

Move Real Robot

Once a real robot is connected, Move Real Robot can move the real robot to the current pose of the simulated robot.

  1. Please refer to Adjust the Pose of the Simulated Robot to adjust the pose of the robot model.

  2. Adjust the Speed to 5% or lower.

  3. Click Move real robot.

Import the Robot Model

After you download a robot model file from the online robot library or make a robot model yourself, follow either of the steps below to import the robot model.

  • Drag the robot model file to the software.

  • Select Tools  Robot Library Tools  Import Robot and select the robot model file in the pop-up window.

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