Simulation
In the dropdown menu of Function on the main menu bar, select "Placement Simulation & Post-process" to open the simulation and post-processing panel.
Settings
- Track: Set the robot linear track of the motion system.
- Robot: Set the robot of the motion system.
- Positioner: Set the positioner of the motion system.
- Ply Group: Set the ply group to be simulated.
- Ply: Select the current ply; some operations target a single ply rather than the entire ply group.
- Auto-select: Automatically select the track, robot, positioner, and ply group from the scene tree.
Simulation
Used to control simulation start, pause, and resume, as well as to set the simulation speed. You can choose to simulate a single ply or the entire ply group at once.
Post-process
Used to select post-processing scripts, output NC programs, etc.
- Post-processor: You can select system-preset post-processors from the dropdown options or choose post-processors you have written yourself. Note that post-processor names must be unique.
- Export Path: Set the export path for the programs.
- Reference Node: Set the coordinate reference frame in the program, usually world coordinates, the workpiece, or the tool center of the positioner.
- Export Each Ply Individually: If checked, each ply is exported as an individual file; otherwise, the entire ply group is exported as one file.
Kinematics Settings
Set the algorithm used to calculate the inverse kinematics of the motion system: - Optimized Linkage: Builds an optimization model to automatically calculate the inverse kinematics for the track, robot, and positioner at each point. - Rule-based Linkage: Calculates the positions of the track and positioner based on given rules, and then determines the robot's joint positions.
For more detailed information on this section, please visit Multi-axis Linkage System Kinematics Settings.
Positioner
Under the rule-based linkage algorithm, this is used to set the strategy for calculating the positioner's position.
- Strategy: The strategy for calculating the positioner's position:
- Align: Rotates the positioner so that the trajectory point's orientation aligns with the reference direction.
- Align-Linear Interpolation: Uses the alignment strategy to solve the positioner position only at the start and end points of a set of placement trajectories, with linear interpolation for intermediate points.
- Align-Cubic Interpolation: Uses the alignment strategy to solve the positioner position only at the start and end points of a set of placement trajectories, with cubic polynomial interpolation for intermediate points.
- Fixed: The positioner is fixed at a given position.
- Auto-Fixed: Automatically calculates a suitable fixed position for the positioner within a set of placement trajectories; linear interpolation is used between adjacent sets.
- Fixed Position: The fixed joint position of the positioner when using the Fixed strategy.
- Start Direction: The reference direction at the start of a set of placement trajectories, usually rotating the Z-direction along the positioner's rotation axis by the given angle. Linear interpolation is used for the reference direction between the start and end points.
- End Direction: The reference direction at the end of a set of placement trajectories, usually rotating the Z-direction along the positioner's rotation axis by the given angle.
- Normal Weight: Defines how the orientation is calculated when aligning the trajectory point's orientation with the reference direction. It is a weighted calculation using the point's normal and the radial direction from the rotation axis to the point (similar to bicycle wheel spokes). This defines the weight of the normal.