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, and move the real robot.
Change Robot Model
If you have already selected a robot model in the Welcome interface and want to change the robot model, please refer to Robot Model Library.
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.
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Click Set Soft Limits.
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Modify the lower limit and upper limit of each axis according to the actual requirement.
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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.
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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.
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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.
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Click the TCP Pose tab, and modify the values in Euler angles or quaternions to move the simulated robot in real time.
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Click the Edit pose tab, enter the value in the text box and click OK.
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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
A home position is the original pose of the robot set by the user.
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Please refer to Adjust the Pose of the Simulated Robot to adjust the robot pose.
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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.
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Please refer to Adjust the Pose of the Simulated Robot to adjust the pose of the robot model.
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Adjust the Speed to 5% or lower.
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Click Move real robot.