Relative Move

Selected by default, i.e., send the current waypoint to the receiver, such as the robot. Once deselected, the current waypoint will not be sent. However, the waypoint will remain in the planned path.

Unselected by default. When non-move Steps, such as Visual Recognition, Set DO, Check DI, etc., are connected between move-type Steps, the sending of the waypoints will be interrupted, and the real robot will take a short pause, reducing the smoothness of running.

When this parameter is selected, the project will continue to run without waiting for the current move-type Step to complete execution, and therefore the robot can move in a smooth way without pauses. However, selecting this parameter may cause the execution of the Step to end prematurely.

Why will this feature cause the execution of the Step to end prematurely?

Mech-Viz will send multiple waypoints simultaneously to the robot when the project is running. When the currently returned JPs of the robot correspond to the last waypoint sent by Mech-Viz, Mech-Viz will assume that the robot has moved to the last waypoint.

For example, there are 10 move-type Steps in a path, and the pose of the 5th move-type Step is the same as that of the last move-type Step. When the robot moves at a low speed, the current JPs will be sent to Mech-Viz after the robot moves to the 5th waypoint. Since the poses of the 5th move-type Step and the last move-type Step are the same, Mech-Viz may mistakenly determine that the robot has reached all waypoints and prematurely ends the command.

Once Detect collisions on target objects is enabled in the Collisions panel, selecting this parameter will disable the collision detection between the robot, robot tool, and placed target objects. Typically, this parameter is selected in the move-type Step following the Step whose Pick or place is set to Place to avoid false collision detections.

Application Example:

The TCP of a depalletizing vacuum gripper is usually set inside the model rather than on the surface of the vacuum gripper. As a result, when picking a box, the vacuum gripper model may overlap with the box model. However, the software does not detect collisions between the end tool and the picked target object, so no collision alarm will be triggered during picking. Once the robot places the box down, the picked box model becomes a scene model, and the software will start to detect the collision between the end tool and the box’s scene model, triggering a collision alarm and preventing the completion of the palletizing task.

Once this parameter is selected, no collision between the robot, end tool, and the model of the placed target object will be detected, and the above issue will be resolved.

Usually, Auto can be selected, i.e., directly apply the Point cloud collision detection settings in the Collisions panel. For the Steps between picking and placing, Check collision can typically be selected.

This parameter is only visible when the Waypoint type of the move-type Step is set to Target object pose.

The target object symmetry here refers to the Rotational symmetry of held target object predefined in the target object editor during collision model setup.

Once this parameter is selected, a Plan failure exit port will be added to the Step.

If the path planning of the current Step succeeds, the workflow will continue along the Success exit port. If the path planning of the current Step fails, the workflow will proceed along the Plan failure exit port. If multiple move-type Steps with “Plan failure” exit ports display in the same plan history entry, the workflow will proceed along the “Plan failure” exit port of the first move-type Step.

Once this parameter is selected, collisions between the held target object and the scene model will not be detected, reducing the computational load of collision detection in the software, speeding up path planning, and optimizing the overall cycle time.

Once this parameter is selected, collisions between the held target object and the robot will not be detected, reducing the computational load of collision detection in the software, speeding up path planning, and optimizing the overall cycle time.

Once Point cloud collision detection is enabled in the Collisions panel, selecting this parameter will stop detecting collisions between the held target object and the point cloud, further reducing the software’s computational load, shortening path planning time, and enhancing the overall cycle time.

The waypoint corresponding to the current Step is used as the center, and multiple alternative waypoints are added around it. In this way, the robot has more alternative paths during the planning process to effectively avoid obstacles, which also reduces project tuning difficulty and enhances the success rate of the path planning.

Avoidance Range Radius

The alternative waypoints will be generated within the sphere with the set value as the radius.

TCP Angle Adjustment Range

The angle adjustment range of the TCP at the alternative waypoint.

When the motion type is Linear move, enabling this function can simulate linear move by joint move with multiple segments, thus reducing singularity problems to a certain extent.

Parameters Setting

Velocity and acceleration determine how fast the robot can move. Usually, the set acceleration should be lower than the velocity. When the set acceleration is higher than the velocity, the robot will move in a choppy way.

Usually, the default setting can be used.