Fig. Tut01 |
|
Rotate and translate the word view (viewpoint)
w Go with the mouse
into the image,
- Pressing the LMB and moving
from left to right and back will rotate the scene about the
Z-axis
of the green colored word coordinate system.
Moving
up and down will rotate the scene about the horizontal axis of your 'monitor'
- Pressing the LRMB and
moving through the image will translate the scene
- Pressing the MMB (or RMB
when 2 mouse buttons) will zoom in and zoom out.
Reset viewpoint, set predefined view, load user views
w Select View->Set
3D Views->Reset View or click the Reset View Icon
w Select View->Set
3D Views->Top View will view the scene from the top
w Select View->Set
3D Views->Right View will view the scene from the right, etc.
w Select File->Load->Viewfile
, open a view file *.vie, the scene interpolates to this user view
Rendering: Bbox, wire frame and full shaded mode
w Select View->Render->Bounded
Boxes will show all 3D geometries as bounded boxes
w Select View->Render->Wire
Frame will show all 3D geometries in wire frame
w Note: Each 3D
geometry has his own rendering attribute
Floor manipulation
w Select Aux->Mouse
Mode->Floor Color, will change the floor color with the mouse
- Note: Each color has
an red, green and blue part. Values between [0..1]
- Pressing the LMB and moving
from left to right and back will in- or decrease the red
part of the color
- Pressing the MMB (or LRMB
when 2 mouse buttons) and moving from left to right and back will
in- or
decrease the green part of the color
- Pressing the RMB and moving
from left to right and back will in- or decrease the blue
part of the color
- Note: EASY-ROB allows
to save these environment setting, see below
w To change the size
(length) of the floor and the number of squares (dlength)
- Select View->Grafic
View Data
- Enter the values for the
floor length and the floor delta length in [m]
Background color manipulation
w Select Aux->Mouse
Mode->Background Color, will change the background color with
the mouse
- This works similar to
the floor color modification, see above
- Note: EASY-ROB allows
to save these environment setting, see below
Save & edit the environment file easy-rob.env
w The environment
file easy-rob.env containes environment setting like floor color,
floor size, background color
hither and yonder values
for the clippping planes, 2 or 3 button mouse, ....
- File easy-rob.env
and is loaded during start up of EASY-ROB.
This file is
ASCII and can be edit also manually by the user
- Example:
! ------------------------------------------
! EASY-ROB Environment File easy-rob.env
!
! Important:
! Please
do not change the order
! off
following statements
! ------------------------------------------
FLOOR_ON 1
FLOOR_WIRE_ON 0
FLOOR_LENGTH 5.000000
FLOOR_DLENGTH 1.000000
FLOOR_COLOR 0.750000 0.750000 0.750000
BACKGROUND_COLOR 0.000000 0.000000 0.000000
HITHER 0.200000
YONDER 10.000000
VIEW_STEPS 5
2_MOUSE_BUTTONS 1
w To save the
current setting in EASY-ROB
- Select File->Save->Environment
file
w To load the
environment file
- Select File->Load->Environment
file
w To edit the
environment file
- Select File->Edit->EASY_ROB
System files->Environment file
- Note: You can define
your preferred editor in the configuration file config.dat, see below
License file license.dat
w The license file
license.dat containes the license key for EASY-ROB
- Example: EASY-ROB
V2.3 GER980929 StefanAnton ID-4460100043 hw_no:29268100 exp.date:0000-00-00
0
(the above license will only work on the computer with the hardware number
29268100)
w VERY IMPORTANT:
EASY-ROB will not start if the license file 'license.dat' does not
exist.
w Does the license
file containes an invalid key, EASY-ROB will start as a demo version. With
the demo version
the full functionality is
available, but does not allow to save anything
w To edit the
license file
- Select File->Edit->EASY_ROB
System files->License file
- Note: You can define
the path where your license file resides on your computer in the
configuration file config.dat, see below
w Get a license
key for EASY-ROB
- If you have ordered EASY-ROB,
I need your
1) Name, for example StefanAnton, see above
2) The hardware number: for example 29268100 in my case
Get your hardware number:
Select File->Edit->EASY_ROB System files->Get License Info , read
you hardware number
3) I will send you your license key per email
Configuration file config.dat
w The configuration
file config.dat containes pathes of you working and grafics
directories, your preferred editor, ...
- Example:
....
WORKDIR= .\proj
WORKDIR= .\proj2
IGPDIR= .\igp_usr
IGPDIR= .\igp_rob
IGPDIR= .\igp_tut
LICENSE= .\
!
!EDIT= my_editor -> your preferred editor
!
EDIT= notepad
....
w VERY IMPORTANT:
EASY-ROB will not start if the configuration file 'config.dat' does
not exist.
w To edit the
configuration file
- Select File->Edit->EASY_ROB
System files->Config file
Monitoring file moni_msg.txt
w The monitoring file
moni_msg.txt protocols most importants thing what happens
in EASY-ROB.
- Example:
If a 3D geometry is not load quite well (e.g. wrong polygons), take a look
in this file.
If EASY-ROB is doing s.th strange, take a look in this file.
If an error occurs, email me the monitoring file
w To edit the
monitoring file
- Select File->Edit->EASY_ROB
System files->Monitoring file
Toolbars
w The Toolbars in
EASY-ROB gives an fast access to the most needed functions
Fig.
Tut02 (Tollbars) - Render Toolbar:
to enable or disable the light
to enable or disable the render mode wire frame for the complete
scene
to enable or disable the render mode bbox mode for the complete
scene
to enable or disable the render mode backface culling for the complete
scene
to enable or disable the floor visualization
to enable or disable the floor render mode to wire frame
to reset the view
to toggle between Cell view and Igp-CAD View
- Run-Animation Toolbar:
to run, pause, continue, stop,
to enable or disable 'pause program execution after each motion command',
to enable or disable 'repeat program automatically',
to decrease or increase the simulation step size
to open output windows for miscell. values like joint and cartesian coordinates,
current motion data, ...
- On-Off Toolbar:
to enable or disable the visualization of the robot,
to enable or disable the visualization of the robots tool,
to enable or disable the visualization of the environment bodies,
to enable or disable the TCP coordinate system (blue color)
to enable or disable the joint coordinate systems from each robot joint
(yellow color)
to enable or disable all tag coordinate systems in the cell (different
colors)
to enable or disable robot dynamics
to enable or disable the TCP trace (in green color for nominal path, red
color for current path using dynamics)
to enable or disable 'Stop on limit switch', when joint travel ranges of
robots are exceded
to open the program window (shows current executed program command)
to enable or disable hierarchical collision detection (bounded boxes, convex
hul and concave bodies)
- Mouse Mode Toolbar:
to modify the view point (cruise, zoom in/out, translate),
to move the robot in cartesian coordinates related to the TCP frame,
to move the robot in cartesian coordinates related to the Robot Base frame,
to move the robot in joint space,
to move the robots base position,
to move the current selected body in cartesian space related to its base
frame,
to move all bodies in a selected group in cartesian space related to a
reference frame (tbd),
to move the current selected Tag point in cartesian space related to its
own frame,
to enable or disable Translation (X,Y and Z-direction) or Rotation (RotX,RotY
and RotZ-direction),
to enable or disable TCP jog mode. (If this mode is on, the TCP location
is kept its position when during modifying
the robots base position),
increments the mouse sensitivity
decrements the mouse sensitivity
- Move to Target Toolbar:
moves the robot to his homeposition in PTP mode,
moves the robot to a givin joint location in PTP mode,
moves the robot to a givin cartesian location in LIN mode,
moves the robot to a givin delta cartesian location in LIN mode,
moves the robot to a givin cartesian via point and cartesian target location
in CIRC mode,
moves the robot to a givin delta cartesian via point and delta cartesian
target location in CIRC mode,
moves the robot to one ore more tag points in a givin motion planner mode
- 3D CAD Toolbar:
to enable or disable the coordinate system from the current selected body
(cyan color)
to select the next 3D CAD body in the current selected group (this body
is the current selected one)
EASY-ROB has 3 groups for geometries:
Group 1: Robot bodies
Group 2: Tool bodies
Group 3: Environment (Body) bodies
to enter or modify the absolute cartesian position of the current selected
body
to enter or modify a relative cartesian position of the current selected
body
to reset (undo) the cartesian position of the current selected body
to save the cartesian position of the current selected body