Manual Part 2 - The KISMET 3D
Contents
1. Comment Shon File EDITH PE meee EEEE ete Figure 31 The TEACH Panel e Programming Mode Toggles Programming mode When switched to ON KISMET asks for a file name the string entered at this point will be used in the header section of the robot program to be generated After the programming is finished switching to the OFF state will store the program as a file KISMET will ask at this point again for the filename e Motion will produce a menu with available motion commands e g PTP motion LINEAR motion KISMET User Manual Page 59 TEACH JOINT motion etc TCP Offset A submenu with available commands for TCP and ZP offset definition will be shown Program Flow Shows a submenu with available commands for program flow control within the robot pro gram Arithmetik This button shows a submenu with available commands for arithmetics in the robot pro gram In IRDATA a powerful set of arithmetic commands is available Datalist Shows a list of robot ptogramming commands for datalist handling by the robot program Data I O Gives available robot programming commands for analogue and digital I O operations in the robot program Comment Is used to enter a comment line in the robot program Show File This command will show in a subwindow an ASCII printout of the robot program as gene rated so far EDITH A specific command set an extension to IRDATA will be shown as specifically defined for the kinem2. 1 Alpha This slider changes the transparency factor of the visualization Gain This slider influences the overall intensity of the whole dataset Level This slider selects a certain point on the translation curve as the upper end of the out put value window See diagram Window This slider selects the opening width of the output value window See Figure 19 Width of Medical LUT output value window KISMET User Manual Page 38 VIEWING Outputvaliues ry P Windgpw a O Inputvalies i i Level Figure 19 Width of Medical LUT output value window The original outgoing values from the selected LUT linear exponential are multi plied by the outputvalues from this window leveling function e Selected LUT medical Figure 20 The Change Medical Lookup Table Panel 2 The medical LUT has a special set of parameter values which is in the current version optimized for the representation of MRI Magnetic Resonance Imaging data Air Changes the visualization intensity of the air surrounding the object Fat Changes the visualization intensity of fatty tissue Tissue Changes the visualization intensity of soft tissue muscles skin Bone Changes the visualization intensity of bone KISMET User Manual Page 39 VIEWING 8 2 2 2 Clipping Plane Control Figure 21 The Clipping Plane Control Panel This is the control center for the 6 possible orthogonal hardware clipping planes The first set of t
3. 9 1 Display Introduction This submenu is used for selection of different screen layout options to control some display options The main display modes do not affect the CAMERA view overlay K Key The default display layout is set at model startup time by reading the layout file lay of the application 9 2 The Display Panel ir iraro bps Tura UL Gowraud AL FLAT 4 REF RARE WINE Ahtial WIRE no ZE Hidden Line Outi imad EE Paok ace Hence light Teosido J u DISPLAY piga TOP SME Tor sme 4 VIEN Burdens Parapect tia flies hew pirrpeti ivn Logical Pineda Lindl UTERe LORD Wiew SAVE Ploi HAWE atarilie Diaplay Figure 22 The Display Panel 9 2 1 Draw Parameters The Draw Parameters are used to select between different rendering qualities in KISMET You can select various types of shaded rendering wireframe rendering and other image quality fea tures Note The quality and performance of the different rendering modes hardly depends on the gra phics hardware of your workstation e Gouraud UL This render mode GOURAUD User Lights is set to GOURAUD shaded rendering with user defined light model The light model is specified in the lighting file lgt of the simu lation model database Up to eight lightsources can be specified The FastKey F11 is used to switch local viewer mode ON The FastKey F12 puts KISMET back to infinite viewer lightsource model
4. Draw Parameters panel e press the Logical View Options button in the Draw Options popup window KISMET User Manual Page 48 DISPLAY e chose the desired buttons out of the Logical View OPTIONS popup window close the popups by pressing the DONE buttons Viewing operations The functionalities of all the viewing operations while Logical View is enabled is identi cal to those of most of the other KISMET viewing modes The viewing operations buttons are located in the VIEWING Operations panel under the VIEWING menu button To adapt the Logical View to your needs use the following viewing operations e Zoom Press the left mouse button and shift the mouse left right to zoom in out Move SC move screen coordinates Press left mouse button and shift mouse left right to move the graph left right Press middle mouse button and shift mouse left right to move the graph up down Press left and right mouse button and shift mouse left right to zoom in out e Show Area To get a good survey of the graph s logical structure you can zoom out until the whole graph is to be seen After that you can magnify the region of interest by pressing the Show Area button and select the region with a rubberband e Reset Reset the view to the initial state e Modelling operations on the data tree The picking functionality can also be used in the Logical View so that it is possible to perform all the picking operations which are known f
5. View command View files are useful for animation because you can load them from within a SCRIPT Save startup Display This function writes the current workcell display parameters to a LAYOUT file in ASCII format This file is used by KISMET every time during simulation startup The LAYOUT file default extension lay defines the basic display layout i e the size and location of all viewports and their default viewing parameters 8 2 1 Viewport Attributes Viewport Attributes up World Frame id OFF Viewport Titles pr OFF Vienport Background Vienport Dranmode DONE Figure 14 Viewport Attributes VP World Frame ON OFF World Frame will be displayed or not in the selected viewport Viewport Titles ON OFF Selected viewport will have a title or not Viewport Background Selection of background colour of the chosen viewport KISMET User Manual Page 36 VIEWING e Viewport Drawmode Gouraud UL GOURAUD shaded Flat Shaded Wireframe i Wire antialias i Figure 15 Viewport Drawmode Selection of the desired drawmode of the selected viewport See 9 2 1 Draw Parameters for a description of the available drawmodes 8 2 2 Volume Visualisation Parameters ange Lookup Tables Clipping Plane Control Figure 16 Volume Visualisation Parameters These buttons are only functional in case a KISMET compatible volume file mpo is loaded 8 2 2 1 Change Lookup T
6. show FRAME show Text show FRAME TEXT In invisible mode nothing at all is displayed except the picking region in WFRM Pick mode FRAME is used to display the coordinate frame of the WFRM TEXT displays the WFRM identifier name Create This command is used for interactive creation of a new WFRM object After the command is started you have to pick a reference FRAME to which the new WFRM is connected in the model tree via a PLACEMENT transformation KISMET will ask you for the type of the new WERM object The type is defined by the type id which is stored as an integer number in the model The type is used also to identify any possible functions or operations to be possible with that WFRM in later stages of the simulation For example if you chose the CAMERA type a camera view will be associated with the WFRM and it can be used to perform CAMERA simulation WERM types are e OBJECT WFRM type 0 9999 These are WFRMs which can be used in WFRM Path definitions They are potential target positions for the ROBOT TCP on the workcell objects These WFRMs move with the parts to be manipulated e TCP type 10000 10999 The WFRM is a ROBOT tool centre point frame TCP The TCP shall be attached to a ROBOT mechanism only It should be attached to hand coordinate system The placement TCP offset is later moved into the workpoint of the current tool e ZP type 11000 11999 The WFRM is a ROBOT base reference syst
7. The default is infinite viewer Note Refer to your workstation documentation to see if the graphics hardware is capable of KISMET User Manual Page 41 DISPLAY doing GOURAUD shading Gouraud SL This render mode Gouraud System Light selects GOURAUD shaded rendering with the graphics system lightsource i e the parallel source is always located in the viewpoint directing along the line of sight like a miner s lamp FLAT The drawmode is set to FLAT shaded rendering All pixels in a surface polygon are filled with the same calculated color This mode is using one lightsource in the viewpoint WIREFRAME Select the wireframe drawmode with Z buffering No shading or lighting is performed Although the GEO elements are displayed in the correct depth order Wire Antial The drawmode is switched to wireframe antialiased mode The lines are displayed antia liased if your graphics hardware allows this option This gives a smoother appearance of the polylines No shading or lighting is done Wire no ZB Set drawmode to wireframe drawmode without Z buffering No shading or lighting is per formed The GEO elements do not appear in the correct depth order Hidden Line The scenario is drawn in a Pseudo Hidden Line mode This is all facets are outlined with BLACK colour The facet insides are filled with the background colour The result appears on most hardcopy devices like a hidden line wireframe drawing Outlined Sele
8. WFRM The selected picked WFRM is linked to a WFRM PATH at the current end position of the PATH Insert WFRM The selected picked WFRM is inserted into the WFRM PATH at a user defineable posi tion You have to pick another WFRM already connected to the PATH after executing this command The active selected WFRM will be entered before the position of the picked WERM Testreach This command allows stepping through the PATH using the selected PATH and the active ROBOT The robot TCP is moved to each WFRM in the PATH You can use this command for reachability and collision tests The WFRMs are processed according to their order in the PATH You can move in both directions regular and reverse order through the PATH When in STEP mode a submenu is called for each step It allows the commands Shere hee RU Paris nent UFRA flep Lest UFRA fStaep Firat WFAWH Step ETOP Stepping Figure 33 The Testreach Panel Next WFRM Step The active ROBOTs TCP is moved to the next WFRM position in the PATH e Last WFRM Step The active ROBOTs TCP is moved to the previous WFRM position in the PATH e First WFRM Step The active ROBOTs TCP is moved to the first WFRM position in the PATH i e to the start WFRM e STOP Stepping STEP mode is stopped KISMET User Manual Page 65 WFRM PATH Attributes This command is used to modify the PATH attributes interactively Following parameters are to be defined by the user E
9. for every geometric entity in the scene are tested for visi bility before rendering all polygonal faces of the geometric part The default value is Off 9 2 2 Display Modes TOP Selects a single top view display layout The line of sight is parallel to the negative Y axis of the world coordinate system Orthonormal projection is used SIDE Enables a screen layout with one orthonormal side view The line of sight is perpendicu lar to the XZ plane of the world system It can be rotated around the Y axis TOP SIDE The KISMET screen layout is set for display of a top view with a side view overlay window Both views use orthonormal projection The line of sight lies along the negative Y axis of the model world system in the top view It is perpendicular to the XZ plane of the world system in the side view The Viewing functions are limited in both windows 4 VIEW The KISMET screen layout is spltting the viewport into 4 different views You will get TOP SIDE and Perspective View together with a Front View Birdseye view Enables a workcell display with perspective projection The Viewing commands simulate a fly through the scene appearance Birdseye view allows control of all viewing attribu tes The Viewing command Change View Direction rotates in this configuration the lookpoint whereas the viewing position remains fixed KISMET User Manual Page 45 DISPLAY Perspect
10. full qualified string for example JET_TORUS OCTANT_5 UPPER_LIMITERS LIMITER_2 COOLING_PIPE e This concept permits especially any geometric editing of existing WFRM PATH lists in KISMET after any changes in the real workcell geometry After any position change of a single WFRM in the geometry database of KISMET another processing step is used to compute all WFRM positions relative to the robot base or ZP system which is required by the robot controller A powerful command called GENERATE ROBOT Frames is available in KISMET to perform this task The PATH FILE is stored back with the now modified target positions The PATH FILE is passed to the OLP module Finally the OLP module generates with an already existing high level program body and the KISMET modified corrected PATH FILE again an executable IRDATA program or any other programming code Before download the IRDATA program can be simulated in KISMET using the Repeat submenu Another editing of the high level program is not necessary using this concept KISMET User Manual Page 69
11. is low due to large model size In the latter case non realtime off line simulation is to prefer Fortunately KISMET gives both options SET Is used for specification of the sample rate for non realtime program simulation The valid range for the timebase is in the wide band between 1 ms up to 5 seconds Set ANAIO Is used to set analog I O channels to a value The virtual robot controller provides a set of analog channels These channels may have some use for simulated sensor based robot pro KISMET User Manual Page 54 SIMULATE gramming For example in Verify mode you can set these values just before the com mand line is executed where the ANAIO channel is used by the IRDATA program You can see if the program performs as planned The required float value is entered in the textport The display is Enter Channel Number 0 9 lt c gt Current value c lt old_value gt Enter FLOAT Value lt input_value gt Set DIGIO Is used to set digital I O channels to a value The virtual robot controller provides a set of digital channels These channels may have some use for simulated sensor based robot pro gramming For example in Verify mode you can set these values just before the com mand line is executed where the DIGIO channel is used by the IRDATA program You can see if the program performs as planned The required 32 bit value is entered in the textport The display is Enter Channel Number 0 9
12. lt c gt Current value c lt old_value gt Enter INT Value lt input_value gt e Exe POSITION Dataset A file of position data is read and executed not a robot program This facility provides a simple interface from other programs for joint position time series input to KISMET Thus KISMET can be used for postprocessing 10 2 2 Verify Submenu The Verify mode is used for off line simulation of robot programs in single step mode verify mode Note All commmands marked with are executable only for robot languages codes which allow no arithmetic commands nor conditional program execution statements program flow control These KISMET commands cannot be used for IRDATA or ICR programs The use of all commands marked with is limited for simple AD HOC programmed robot codes The Verify Submenu is a so called Pop Up Menu Step forward Step backward Position printout Jump to Start Jump to End Modify Position KISMET User Manual Page 55 SIMULATE Insert Position Delete Position Start Repeat Teach Append Overwrite Teachfile Verify off Activate Teachfile Figure 29 The Verify Submenu Step forward Executes the next program step Step backward Executes the previous program step This function allows program traversal in reverse order Position printout The current robot parameters joint and TCP positions etc are printed out Ju
13. suffixes for WFRM PATH files are wpf or WPF Delete The selected PATH FILE with all linked WFRMs is deleted from the runtime datastructure KISMET main memory List The selected active PATH FILE is listed in an overlay text window ROBOT Attributes KISMET User Manual Page 66 WFRM The actual ROBOT parameters are entered into the WFRM PATH data structure modifying the parameters of the 7 ROBOT command This function is useful when you examine several robots with the current PATH e GENERATE TCP FRAMES This function computes for all WFRMs in the current PATH FILE the TCP coordinates in robot ZP space To select a PATH FILE you have to select one of the WFRM PATHs using the SELECT WFRM Path command The active ROBOT and the selected PATH FILE are used for the computation When a position cannot be reached the calculation is stopped You should then change the robots base position in the workcell and execute GENERATE again Repeat this procedure until all WFRMs in the PATH file can be reached collision free Then save the PATH FILE The resulting PATH FILE can be used by external modules for automatic robot program generation This command is most useful after editing relative WFRM positions or moving FRAMEs in the workcell model For recalculation of the TCP positions in ROBOT coordinates sim ply execute the GENERATE function 12 3 The WORKFRAME Pathlist Concept in KISMET The main problem in off line pr
14. using the WFRM Id textstrings which include the assembly topology and the WFRM name All WFRM PATHs of a robot or handling task are combined to a WFRM PATH sequence and stored in the filesystem as a WFRM PATH FILE physical representati on An off line programming module OLP module which is specific for the high level pro gramming language used and for the executable robot target code IRDATA ICR to be gene KISMET User Manual Page 68 WFRM rated compiles from the WFRM PATH files and the high level program body together with a library of elementary operations the final executable robot program In the WFRM PATH file the position of each WFRM is redundantly stored This is e relative to the robot reference system ZP system These informations robot TCP offset position of additional axes hand status etc are required from the OLP module They can be transferred directly into the IRDATA program The identification of the WFRM data in the WFRM PATH file is done with the help of symbolic names i e the PATH name and or the single WFRM Id These names have to be used in the high level body either directly or a conversion table is to be used e relative to the workcell object to be handled in the geometric database with its relative trans formation to the Object FRAME The object ID FRAME ID is stored together with the other data in the WFRM PATH FILE The WFRM ID is built from the IDs of the corre sponding object FRAME as a
15. 8 VIEWING 8 1 Introduction This section describes the use of the Viewing submenu This is a group of commands which are used to modify different parameters of the workcell views viewing position view direc tion zooming factor size and position of the viewports on the graphics screen etc 8 2 The Viewing Panel EE F ae SSSR REBEBHOnEE BEPEPEREDEP SPEED EEE pepe Es Tuist Combined Lookat GEO Cell Centre Pick Centre Show Area i Vieuport ATTRIBUTES H Paraneter Display J Waal Reset Select UP i p i Volume Vis PARAMETERS Predefined VIEWs LOAD View SAVE View f Figure 12 The Viewing Panel e Zoom This function is used for zooming i e the viewing angle the opening angle of the virtual lens is changed e LM Change the viewing angle zoom for the main view e MM Change the viewing angle zoom for the camera overlay view e Direction Allows to rotate the viewing position around the point of interest lookpoint The line of sight will remain directed on the lookpoint Additionally this valuator function allows to manipulate the field of view zoom e LM Change the azimuth angle KISMET User Manual Page 32 VIEWING e MM Change the elevation angle e BM Change viewing angle of the main viewport zoom Move SC This valuator function allows a parallel shift of the viewing position viewpoint and the point of i
16. M 12 2 The WF RM Panel Edit WAH ALBEE i Varro Lever ien bo motata l Trans lata Pick Vislbi lity Creoalu Baleia Place al TCR F roma Print WPRS Sodannn Show Placemant E in Edit BFRY FATH Cronin Oo late She e fees LEA Append kFAN Imcort Lin BAGTE PATH Attri bait ni Tit At Iri bet ie LFNR File parat ionis Los E tore Op lete BUOI fattribetes Generates CPF rimer eeeeeee GY enee Figure 32 The WFRM Panel 12 2 1 The Edit WFRM Commands e Rotate WFRM The WFRM object is rotated in 3 dimensions relative to its reference FRAME A general 6 parameter transformation dx dy dz a B y is used by KISMET for the transformation e LM Change Og i e rotate WFRM around X axis e MM Change Bg i e rotate WFRM around Y axis e BM Change Yg i e rotate WFRM around Z axis e Translate WFRM The WFRM object is translated relative to its reference FRAME in 3 dimensions e LM Translate WFRM about d along FRAME X axis e MM Translate WFRM about d along FRAME Y axis e BM Translate WFRM about d along FRAME Z axis KISMET User Manual Page 62 WFRM Pick WFRM This command is used to start a PICK operation to identify the WFRM WFRM PATH or WFRM PATH file to be edited A WFRM is picked at the origin of its coordinate system as drawn in the workcell display Visibility Allows for each WFRM to define its drawing mode individually The display options are as follows invisible
17. ables Figure 17 The Change Lookup Tables Menu This set of buttons is used to select the desired lookup table LUT also called transfer functions for the volume visualization Lookup tables are used to translate original incoming datavalues into other specially chosen outputvalues e g densitiy information to transparency e linear Selects the linear LUT Incoming values are mapped without change to outgoing values expon KISMET User Manual Page 37 VIEWING Selects the exponential LUT Incoming values are translated according to an exponential curve rainbow Selects the artificially colored LUT Incoming greyvalues are translated into colored out going values The characteristics of the LUT can be changed by editing the rainbow klt file see USER DATA SPECIFICATION for detailsl medical Selects the medical LUT Especially precalculated for the visualization of medical MRI datasets for diagnostic purposes user1 user2 Selection of two user defineable LUTs The filenames must be user1 klt and user2 klt For the creation of user LUTs and the manipulation of predefined LUTs please check the tech nical manual EDIT This button leads to a separate editing window for the LUT parameters Which editing win dow comes up depends on the selected LUT e Selected LUT linear expon rainbow user 1 user 2 Air Fat Tissue Bone DONE Figure 18 The Change Medical Lookup Table Panel
18. al state as when KISMET is started for a particular simulation model e Select VP Defines the input focus for viewing commands in multiviewport display configurations Input focus is toggled from the big main viewport e g top view to the overlay viewport side view and vice versa e Viewport Attributes Leads to the Viewport Attributes Panel See chapter 8 2 1 Viewport Attributes for details e Parameter Display ON OFF Display of Viewing Parameter Viewpoint Lookpoint x 34349 5 X 4984 4 Yy 4558 3 2155 1 11010 9 2 2646 0 Window W 240 6 F 941 0 B 68591 5 D 30627 A 14 6 Figure 13 Viewing Parameters e Vol Vis Parameters Leads to the Volume Visualisation Panel See chapter 8 2 2 Volume Visualisation Parame ters for details KISMET User Manual Page 35 VIEWING LOAD View This function is used to load a workcell display from a binary view file The filename is picked from a file select panel To create a view file use the SAVE View command The function is used for fast reseting of all workcell views A similiar command is available for the SCRIPT Interface LOAD_VIEWS SAVE View The function is used to save the current workcell display all views in a binary view file The pathname for the view file is kis_home scripts lt view_filename gt The default extension is vws The file can be used for fast reset of a workcell view using the LOAD
19. atically redundant EDITH robot KISMET User Manual Page 60 12 WFRM 12 1 Introduction to WFRM The Edit WFRM submenu is used for creation editing and positioning of Workframes WFRM WFRM PATH objects and WFRM PATH files A WFRM is the supertype datastructure which is used in KISMET to define TCP reference po sitions on the objects to be handled The basic task in robot programming is to move the robot TCP in a specified way from one WFRM to the next and perform at these positions a specific task To automate or simplify off line program generation KISMET allows the definition of ad ditional data with each workframe This is a name identifier a comment a type id a visibility number etc The WFRM is connected to a FRAME through a transformation matrix which al lows local relative positioning A group of WFRMs in a specific user defined order forms a WFRM PATH A set of WFRM PATH structures is stored in a WFRM PATH FILE WFRM data can be passed during KISMET program execution to other programs through a fi le A SCRIPT command is used to initiate this action Additionally to the standard function of a WFRM as described above the WFRM data struc ture is used in KISMET to define CAMERAs moveable scene LIGHTS USS sensors simula ted ultrasonic sensors robot TCP and ZP systems For identification of the WFRM class and possible operations a type attribute is associated with each WFRM KISMET User Manual Page 61 WFR
20. cripts lt view_filename gt The default exten sion is vws The view file can be used for a fast reset of all workcell views using the LOAD VIEW command View files are useful for animation because you can load them from within a SCRIPT SAVE startup Display This function writes the current workcell parameters to a LAYOUT file in ASCII format This file is used by KISMET every time during simulation startup The LAYOUT file default extension lay defines the basic display layout i e the size and location of all viewports and their default viewing parameters Logical View Activates logical viewing mode i e the model datastructure is rendered using symbols for frames geometry ABSTRACT files and workframes See 9 2 3 1 Locical View for details 9 2 3 1 Locical View Purpose Most of KISMET s viewing modes like KISMET User Manual Page 46 DISPLAY e TOP e SIDE e TOP SIDE 4 VIEW e Byrdseye e Perspective e Side view perspective are designed to show the geometric structure of models in form of different 3D projections The Logical View viewing mode on the other hand is a means to visualize the logical file structure of an actually loaded model tree It should help the user to create new as well as to change existing models in a more convenient way The most important purpose is to locate bran ching points in the model tree hirarchy and to locate and identify kinematic frames and the at tached wo
21. cts flat shaded rendering outlined polygon edges This mode may be useful for enhan cing the contrast for hardcopy output Fake SHADOWS ON OFF Enables disables the display of fake shadows Shadows of all model parts are drawn in the plane Y 0 This method is based on a projection technique There are no shadows genera ted between the objects but it is capable of near realtime performance Note For full shadows you may use the RAYCASTING mode F5 Key Reflections bet ween the objects are calculated additionally in RAYTRACING mode F6 Key Be careful if you try this it may take hours to compute just on image Texture Mapping ON OFF Enables disables the display of surface TEXTURES hardware texture mapping KISMET allows mapping of SGI image files in rle format on geometric surfaces this is it works for EXTENDED_POLYHEDRON geometry parts only Texture mapping in KISMET works as follows The texture file s is are defined in the mat file of the application model The material index of the GEO part refers to those materials which have defined texture files A texture list is defined in the EXTENDED_POLYHEDRON mpo file The texture list is used for KISMET User Manual Page 42 DISPLAY the mapping from 3D object space to 2D texture space On some workstations texture mapping is done in realtime or near realtime hardware sup ported On other workstations this function is emulated in software with the resulti
22. ds Create WFRM Path This function is used to create a new WFRM PATH The attributes of the new PATH are entered interactively Following parameters are to be defined by the user Enter WFRM PATH name lt PATH NAME gt Enter FRAME colour 0 127 lt ci gt Enter TEXT colour 0 127 lt ci gt Enter NUM colour 0 127 lt ci gt The data to be entered are the lt PATH NAME gt string and the colour indices lt ci gt inte ger used by KISMET for FRAME TEXT and NUM drawing respectively The colour indices refer to the constant c olour table as defined in the col file DELETE The selected WFRM PATH is removed from the runtime datastructure and unlinked from the PATH FILE SELECT KISMET User Manual Page 64 WFRM This command is used to specify a WFRM Path for editing or simulation The PATH is sel ected by PICKING LM a WERM which is already connected to the PATH All WFRMs of the PATH are highlighted after selection REMOVE WFRM This command is used to REMOVE a WERM from the WFRM PATH datastructure The WERM is unlinked from the PATH only It will remain in the runtime model linked to the reference FRAME as an ordinary workframe You can relink the WFRM at another posi tion in the same PATH or another PATH The term position refers here to the execution order of the WFRMs in the PATH To delete the WFRM completely from the model use additionally the Delete WFRM command Append
23. e refer to KISMET User Manual Page 43 DISPLAY chapter 9 2 3 1 Locical View The various display options controlled by the menu are Draw PE Text Draw GEO Tent Dras URFA Tert rn BEHS irae HBK RH HES GOKE Figure 24 The Logical View OPTIONS Panel Draw MPK Text Toggles display of frame names Draw GEO Text Toggles display of geometry mpo file names Draw WFRM Text Toggles display of WORKFRAME names Draw GEOS Toggles display of geometry symbols includes the names Draw WORKFRAMES Toggles display of Workframe symbols includes the name Set Floor Parameters This function leads to a set of panels which are used to define or change the drawing para meters of the FLOOR object To save the attributes in your model database you have to write the ABS root file to the file system In the definition panels you can define the place ment size and colour scheme of the FLOOR geometry The FLOOR can be drawn uniform or as a two colour rectangular grid chessboard like Floor Display ON OFF Enable disable the display of the FLOOR object The FLOOR is an automatically generated object It is a special kind of WFRM data The appearance can be defined in the root mpc file Bounding Boxes ON OFF This command is used to toggle the display function for the overlay of BOUNDING BOXES They are used within the collision test algorithm for the first two stages of the test Each GEO part is surrounded by a b
24. em or zeropoint ZP coordinate system It defines the reference frame for robot motion targets in car tesian coordinates The placement can be changed using the Change ZP commands e CAMERA KISMET User Manual Page 63 WFRM type 15000 15999 This defines a CAMERA VIEW It can be used for CAMERA simulation The name of the WFRM is used in the Select CAMERA submenu for identification of the current CAMERA e USS type 16000 16999 Defines a simulated ultrasonic sensor or similar objects e LIGHTS type 17000 17999 This type is used to attach a lightsource defined in the lgt file to a part When the part is moved in the workcell the light will be moved as well The lightsource number 0 7 is entered in the textport You may only use as many sources as defined in the lgt file Delete The picked WFRM is erased from the runtime model datastructure Place at TCP Frame The WFRM placement is recalculated The WFRM will be placed at the current location and orientation of the active ROBOTs TCP Print WF RM Nodename The full qualified nodename of the WFRM reference FRAME and the WFRM name are printed in the textport These names can be used in SCRIPT commands related to WFRM operations Note In SCRIPT commands WFRM references require the nodename s of the reference FRAME and the WFRM Id i e two strings Show Placement ON OFF Displays the Placement Parameters 12 2 2 The Edit WFRM Path Comman
25. executable robot programs The real robot controller interprets these li nes as comments whereas KISMET can filter useful commands out SCRIPT commands are recognized by KISMET when a comment line starts with a cha racter in the first position Then the rest of the comment is interpreted as a SCRIPT command Example 00011 21400 16 4 0 132 1 578 0 132 1 306 5 132 1 10 8 132 1 0 0 132 1 0 0 132 1 180 0 00012 5000 344 16 4 0 1 0 1 0 00013 1000 8 Greife Schlagschrauber 00014 1000 9 CONNECT Traegersystem WKZ_BAS WRENCH TO Traegersystem J_2 HAND KISMET User Manual Page 52 SIMULATE 00015 21400 16 4 0 132 1 940 0 132 1 306 5 132 1 10 8 132 1 0 0 132 1 0 0 132 1 180 0 00016 5000 344 16 4 0 1 0 1 0 The IRDATA code segment as listed above executes two linear motion commands to com mands 11 12 and from commands 15 16 the tool pickup position of the end effector named WRENCH Commands 13 and 14 are comment lines In the comment line 14 a SCRIPT com mand is embedded for the kinematics module of KISMET This SCRPT command in the ex ample is used to connect the tool gt WRENCH to the robot hand 10 2 The Simulate Menu Hon Fini liinn Mode i OFF SET Interval maf 50 Propran not Fiep i Cache Tine PO i FO oo 000 Se BRAID Sai OGM Esec POSTION Uta TCF Treck Disp laa TRACE Disp lng Display DDE JSET TAG Leng Enel 30 0 SET PNT fist Doel at i Fig
26. hree planes can be switched on and off by pressing the XY1 XZ1 YZ1 The rev button may be used to invert the clipping plane s normal vectors Every plane has a slider to move the plane through the volume The distance between the plane and the centerpoint of the volume is shown in milimeters Additionally it is possible to activate the second set of three clipping planes by pressing the but tons XY2 XZ2 YZ2 Reverse configuration of these three planes makes no sense and is the refore not implemented 8 2 2 3 Draw Mode e TRANSP The volume is shown transparent The grade of transparency can be influenced by the sliders in the Select LUT Change Medical LUT box e OPAQUE The volume is drawn opaque The Alpha slider in the Change MEDICAL LUT box is not functional e COMPLM The part of the volume which has been clipped away by applying the clipping planes is shown So it is possible to cut out rather complicated geometries P TRANSP The part of the volume which has been cut away by applying clipping planes is drawn trans parent whereas the rest of the volume is shown opaque e DONE leave the dialogue e Incr Gamma This button allows to correct the gamma value slightly if the volume drawn is too dark to be seen comfortably When the button is pressed the text changes to Reset Gamma and the former gamma state may be restored after pressing it once again KISMET User Manual Page 40 9 DISPLAY
27. ing Actrvation Deactivation of program control modell parts e g Toolexchange Subroutine handling Arithmetic instructions Logical instructions IMultitas king Robotdepende nt part Control commands Move commands Process EJA y Kinematic parameter Geer Virtual Process I O r Trajectory Planning l Tre T ae l ROB_FRAME Pea Joint based Kinematics Traj ectory Interpolation Si i FRAME DOF p Joint Variables Yel Inverse Transformati onl Test for Reachability Transformation of Kinematics C ollisiontest Geometric Robot Geometrical Transformation 3 Information Figure 27 Architecture of the virtual robot programm controller KISMET KISMET User Manual Page 51 SIMULATE The program simulator has the following main features e The robot program IRDATA program is loaded for the active ROBOT e programs are read from the directory kis_home teachlib e foreach ROBOT multiple programs can be loaded IRDATA e programs can be executed simultaneously i e each robot in the workcell can execute a pro gram e in IRDATA one program can control multiple robots USEIR command in IRDATA e simultaneously executed programs can be synchronized using IRDATA semaphores SIGNAL WAIT SEMINI commands e program execution can be performed in realtime mode or non realtime mode e realtime mode means program execution in KISMET takes the same time a
28. ion rotates the view around the line of sight Twist e LM Change azimuth angle for side views e MM no function e BM no function Combined This mode allows combined control of viewing position direction and field of view zoom e LM Changes viewing position in screen coordinates in x and y direction e MM Changes azimuth and elevation angles of the viewing direction e BM Changes the field of view angle zooming Lookat GEO This PICK command allows fast centering of geometry parts After triggering this com mand a geometry element GEO is identified picked using LM The lookpoint of the new view is placed into the midpoint of the bounding box covering the identified GEO e LM PICK the GEO element e MM Picking is stopped no change of viewing parameters e BM BM not used Cell Centre The lookpoint point of interest is moved into the arithmetic model centre The centre is calculated as the midpoint of the bounding box covering all geometry parts in the model Pick Center This PICK function is used for fast redefinition of the point of interest coordinates LM is used to PICK the new view direction in the workcell display The viewing transformation matrix is recalculated as follows e the viewing location is not changed for perspective views e for orthonormal projections view and lookpoint are translated e anew line of sight is computed using the PICK position as direction e the PICK location becomes the
29. ive Enables a workcell display with perspective projection This mode allows control of all viewing parameters with the Viewing functions The Viewing command Change View Direction rotates in this configuration the viewpoint whereas the point of interest remains fixed in space This differs from the behaviour in Birdseye mode side view perspective Selects a perspective side view projection The other attributes are similar to the single side view Logical Selects the Locical Viewing Mode of the scenes datastructure In this display mode sym bols are use to display ABSTRACT files MPK frames geometrical parts and workframes This mode is sometimes better suited for selecting picking the models entities than geo metrical rendering It gives a good overview of the hierarchical structure of the KISMET dataset Please refer to chapter 9 2 3 1 Locical View for a more detailed description of the symbols 9 2 3 Predefined VIEWs LOAD VIEW This function is used to load a workcell display all views from a binary VIEW file The filename is picked from a file select panel To create a VIEW file use the SAVE VIEW but ton The function is used for fast reseting of all workcell views A similar command is availbale for the script interface LOAD_VIEWS SAVE VIEW This function is used to save the current workcell display all views in a binary VIEW file The pathname of the view file is kis_home s
30. le is created e Verify off Stops Verify mode e Activate Teachfile This function activates Verify mode single step execution for another robot teachfile program The command allows especially to test multiple teachfiles which are loaded in KISMET for different robots This means it is possible to simulate in workcells Verify mode with more than one robot 10 2 3 TCP Track Display e TCP Display ON OFF Enables disables the display of the TCP TRACK This function is used to vusualize the movement of a tool for example in robot programs Points are entered ino an internal list each time when the TCP has moved a user definable distance For display the points are connected by lines The display type and the distance can be defined by using the Display MODE button and the 2 SET buttons Figure 30 shows a typical example of the TCP path as displayed in KISMET Figure 30 Display of TCP path KISMET User Manual Page 57 SIMULATE e Display MODE Activates a submenu in the KISMET kernel with display modes for the TCP track The various modes are TRACK only TRACK a normal mode 1 TRACK a normal mode 2 TRACK TAGs Point mode Spline TRACK e SET TAG Leng is used to define the length of the coordinate axes of the TAG frame in object space The default value is 50 mm e SET PNT Dist This command is used to set the minimum distance for entering control points in the TRACK list When the TCP is moved from
31. mp to Start The program counter is set to the first command line start step Step counter and initial position are reset Jump to End The program counter is set to the last command line end step Modify Position This command is used for teachfile modification The current position of the active robot is used as motion target for the actual program step You may move the active robot at any time step during teachfile verification Insert Position The current position of the active robot is inserted as an additional step for the next motion target in the robot program This function is used to enter intermediate position in the robot path Delete Position This command will delete the current program step Start Repeat Stops Verify mode single step execution The robot program will continue execution in continous execution mode Repeat mode Teach Append Allows to append additional program steps at the end of the robot program This function works similar to Teach mode KISMET program flow now continues in Teach mode KISMET User Manual Page 56 SIMULATE The program counter is set to the new end position last step The number of program steps is incremented by one e Overwrite Teachfile The modified robot program is saved written to the file system KISMET will request the filename If the original filename of the robot program is used this file will be overwritten otherwise a new fi
32. n can be used to influence the workframes in the model Just pick one of the green workframe symbols and perform the desired operations on it e DETAILING operations All the operations offered by the buttons in the Interactive Detailing and Edit Operations panels to find this press DETAIL menu button can be used to influence the complexity of the model ATTENTION To select one of the ABSTRACT Frames KISMET mpc files please pick the kinematic mo delling frame brown rhombus ABOVE the desired ABSTRACT symbol red square KISMET User Manual Page 50 10 SIMULATE 10 1 Virtual IRDATA Controller KISMET provides a virtual robot controller for each robot mechanism defined in the model datafiles The virtual controller stores the robot dependent parameters and variables This is for example current speed accelleration for the TCP linear movements and joints PTP move TCP and ZP offsets pointers to loaded robot programs etc Figure 27 shows the architecture of the virtual multi tasking robot program controller as implemented in KISMET ROB OT Program SRCL subset Teachlib IRDATA V VDI12863 DIN6 6313 ECESE IE WANE Multitasking JET BOOM Loading Module Multiprogramming Code Process C ontrol JET TARM Code KISMET SCRIPT Interpreter I Code Interpreter A Reconfiguration of modell Robot independent part 18 ection Variable handling topologie e g gripping parts Block handl
33. new centre of the viewport in model space e the distance between viewpoint and previous lookpoint is not changed Show Area Allows a fast redefinition of the new 3D window This function is a combination of Zoom and Center View After pressing LM the current cursor position is used as one corner of the new viewing frustum Now you can drag a rubberband rectangle keep LM pressed down to define the opposite corner of the view area The aspect ratio of the world window is not changed and the original viewport coordinates screen space are used Move VP KISMET User Manual Page 34 VIEWING This function is used to move overlay viewports PAN for multiviewport display modes The dimension of the viewport is not changed Press LM over the viewport you want to move Keep LM pressed and move the rubberband rectangle to the new location e LM Used to identify and move the overlay viewport e MM No function e BM No function e Reshape Viewport This function is used to relocate and resize overlay viewports for multiviewport layout con figurations Use SELECT VP to identify the viewport and release it Then press Reshape VP Use LM to define one corner of the new viewport location Keep LM pressed and draw the rubberband rectangle to define the opposite corner Reset Resets for all defined views the viewing parameters to the values as predefined in the lay out file lay This is the viewing parameters are set to the initi
34. ng poor performance or it is not working at all Please refer to your workstation documentation if texture mapping is available on your model The texture mapping function in KISMET is by default OFF Backface Remove On OFF Toggles function for hardware BACKFACE REMOVAL in the graphics subsystem For some workstations enabling backface removal can improve the graphics performance of KISMET to some extent This is using this option you may be able to achieve higher dis play rates The default value is OFF disabled e Light Twoside On Off Enables Disables the lighting of backfacing polygons With twoside lighting mode active On the rendering performance is substantially reduced The default value is OFF disab led e More Drawing Options Another submenu panel for addional less frequently used rendering options is called See chapter 9 2 1 1 More Drawing Options for available options 9 2 1 1 More Drawing Options The Draw Options Panel Options Logical View Options SET FLOOR Paraneters FLOOR Display E Bounding Boxes d Frontface Removal ojo 2 aja ain 4 CPU Backface Test J Scene ANTIALIAS fe Volume Test H Display GEO Test 4 DONE o o S a I A al Figure 23 The Draw Options Panel e Logical View Options Leads to the Logical View Options Panel The menu switches define various rendering opti ons in logical viewing mode For a general description of the locical view pleas
35. nter WFRM PATH name lt PATH NAME gt Enter FRAME colour 0 127 lt ci gt Enter TEXT colour 0 127 lt ci gt Enter NUM colour 0 127 lt ci gt The data to be entered are the lt PATH NAMES gt string and the colour indices lt ci gt used by KISMET for FRAME TEXT and NUM drawing respectively The colour indices refer to the constant colour table as defined in the col file TOOL Attributes The actual robot TCP offset active ROBOT is entered into the WFRM PATH data struc ture modifying the parameters of the TOOL command This function is useful when you try several tools with different TCP offsets for the current PATH 12 2 3 WERM File Operations Load This command is used to READ an existing PATH FILE into the workcell for editing or simulation Pick the PATH filename from the file panel All files with the suffix wpf or WPF are displayed for selection Note PATH FILEs are stored in the directory kis_home teachlib Store Is used to write a PATH FILE to the filesystem PATH FILEs are stored in the directory kis_home teachlib You should use the filename suffix wpf or WPF Create This command is used to create a new PATH FILE and to initialize its attribute data The following parameters are to be defined by the user by using the textport Enter WFRM PATH filename lt filename gt Enter COMMENT Line lt comment string gt Note The predefined
36. nterest lookpoint The viewing direction azimuth and elevation angles remains constant The parallel translation of viewpoint and point of interest is carried out in the screen coordinate system SC screen coordinates e LM Translate Right Left e MM Translate Up Down e BM Translate In Out i e along the line of sight Move GC This valuator function allows a parallel shift of the viewing position viewpoint and the point of interest lookpoint The viewing direction azimuth and elevation angles remains constant The parallel translation of viewpoint and point of interest is carried out in the global world coordinate system GC global coordinates e LM Translate in X direction e MM Translate in Y direction e BM Translate in Z direction Distance This valuator function is used to change the distance between the the viewing position viewpoint and the point of interest lookpoint The viewing position is moved along the line of sight i e the lookpoint position is not changed e LM Change distance e MM No function BM No function Clip Planes Allows to move the front and back clipping planes respectively In STEREO mode this command allows additionally to change the stereo base eye distance e LM Move the front clipping plane e MM Move the back clipping plane e BM Change STEREO eye distance in stereo mode only Twist KISMET User Manual Page 33 VIEWING This funct
37. ogramming is the combination of geometry and topology data of the robot workcell as available in the Computer Aided Robotics CAR system KISMET with textual programming features Whereas the structured geometry information Another pos sible expression could be the term geometric knowledge base of the working environment as available in the CAR system can be modified after changes in the real workcell rapidly using the CAD editing functions in the case of pure textual programming alle target coordinates which are affected by the change in the workcell would have to be edited or reentered manually This is a time consuming task It is a common procedure in pure textual off line programming to enter the real target positions of the motion commands into the textual program in another workstep This step is called teaching An operator has to move the real robot On Line in the real workcell manually from position to position The actual kinematic data is then transfer red from the robot controller into the textual program at each target point After any changes in the real cell this step is to be repeated again This concept is called hybrid programming Most KISMET User Manual Page 67 WFRM of the advantages of off line programming are lost in this concept creates Text Editor e g vi or emacs Robot Program PASRO IRL TDL etc Basic WFRM Path File Operations Tevet uses l KISMET creates WFR M P ATH Files sim
38. ox drawn in CYAN Alle parts of a FRAME are enclo sed in another box BLUE The higher level FRAMEs father frames are again surrounded by a box and so on See chapter 18 Function selection panel for details concerning the colli sion test option Frontface Removal ON OFF KISMET User Manual Page 44 DISPLAY Toggles the display mode for graphics hardware FRONTFACE REMOVAL i e all poly gons facing to the viewer are not rendered The default value is Off CPU Backface Test ON OFF Toggles function for software BACKFACE REMOVAL For some workstations enabling software backface removal can improve the graphics performance of KISMET to some extent This is using this option you may be able to achieve higher display rates The default value is OFF disabled Scene ANTIALIAS Triggers antialised drawing for the next rendering frame one shot Due to the chosen method in KISMET the scene is rendered in the invisible backbuffer several times with minimal random shifts in the viewing position the subframes are accumulated to the final image this function may consume some rendering time Volume Test Toggles testing of each polygonal facet of all geometrical entity before drawing according to the visible subvolume of the scene to improve drawing performance The default value is Off Display GEO Test Toggles Volume Testing of geometrical parts for improving the rendering performance In active mode the bounding boxes
39. rkframes and geometry objects Screen Layout The following symbols are used to represent the logical structure of the model tree ABSTRACT Mode EMET mpe file Calor red WOREFRAME fworkpomis robotfcp camera view light sources Color green GEC element EISMET myo file Color blue Emematie modelling or jolt frame Color brown 06 DE Figure 25 Logical View Symbols KISMET User Manual Page 47 DISPLAY Example of a small model tree The following example shows a small model tree with two hierarchical steps ABSTRACT_ROOT mpc Level 1 Abstract frame BASE_FRAME new mpc file Level 2 FLOOR_OBJECT Kinematic modelling frame GEO element Workframe Figure 26 Display example for Locical view Usage Selecting Logical View mode Press the Logical button in the DISPLAY Modes panel under the DISPLAY menu button Display features There are the following options to influence the appearance of the Logical View graph e switch off on kinematic frame names e switch off on drawing of GEO symbols e switch off on GEO names e switch off on drawing of WORKFRAME symbols e switch off on WORKFRAME names To achieve a better view of the fundamental file structure disable the GEO and WORKF RAME symbols To find the appropriate control buttons follow this user interface hierarchy e press the DISPLAY menu button e press the More Drawing OPTIONS button in the
40. rogram during execution It can be used after Run or Verify After the program is stopped the program counter is set to the first command This is after a stop the program can be restarted at the beginning The Stop selection is made from the program menu Each running program must be stopped separately This means if one program is stopped any other programs will continue execution Delete A loaded program is deleted from the virtual controllers memory The memory allocated during program Load and occupied by the I code is deallocated Note Using Delete Teachfile the robot program is not erased from the UNIX filesystem In case you want to delete the program from the filesystem you should use the UNIX com mand rm lt filename gt Verify Starts a robot program or continues a running program in single step mode A special menu will appear in Verify mode after each program step See chapter 10 2 2 Verify Submenu Non Realtime Mode Toggle function for robot program off line simulation in realtime or non realtime mode The default is realtime mode It is an advantage of the realtime that the response time nearly corresponds to the reality This mode is useful when KISMET is used for operator training Remote Handling surveil lance On the other hand important details of robot movements often cannot be observed and possible collisions are not detected during off line simulation in particular when the image rate
41. rom the other viewing modes e operations on GEO elements KISMET mpo files All the operations offered by the buttons in the Edit Geometry GEO panel to find this press the MODEL menu button choose the Edit GEO button in the Cell Modelling panel can be used to influence the GEO elements in the model You can for example delete load or mark any GEO elements by picking the desi red GEO symbol in the Logical View display After switching back to one of the projection views the changes should be visible immediately To find the file name related to a special GEO element pick the desired element in one of the projection view modes e g Perspective then switch to Logical View The selected GEO element will be marked there e operations on kinematic modelling FRAMES All the operations offered by the buttons in the Edit Parts FRAME panel to find this press MODEL menu button choose the Edit FRAME button in the Cell Modelling panel can be used to influence the kinematic frames in the model Just pick one of the brown frame symbols and perform the desired operations on it If you decide for example to add a new abstract file mpc to one of the frames the Logical View will be updated immediately e operations on WORKFRAMES KISMET User Manual Page 49 DISPLAY All the operations offered by the buttons in the Edit WFRM Edit WFRM PATH and WFRM File Operations panels to find this press WFRM menu butto
42. s on the real controller The system clock monitor intervalls are used for this mode e in non realtime mode a timebase is defined and program execution is performed at sam pled timesteps For every program and display cycle the virtual execution time is incre mented by the user defined time interval timebase This mode is more accurate as the realtime mode The timebase can be defined in the range 1 5000 ms e KISMET can perform robot program execution either in continuous execution mode Run or in single program step mode Verify e The current excution time of the program is displayed in the output field 15 of the KIS MET display in non realtime mode only If multiple programs are executed the execution time for the active ROBOT is shown This output can be used for cycle or execution time measurements e The current step number command number of the active ROBOT is displayed in output field 7 The simulation is based on a KISMET internal datastructure I Code which is interpreted by the virtual controller during robot program execution Read modules build the interface bet ween different robot languages or codes and the I Code The I Code corresponds in its functionality to the IRDATA standard with some minor restric tions but also some functional extensions For example it is possible to embed KISMET SCRIPT commands into IRDATA comment lines This method is used to include simulation specific commands into
43. the last position in the list for at least the defined distance another point is entered in the list The default value is 50 mm KISMET User Manual Page 58 11 TEACH 11 1 Introduction to TEACH Starts and Stops the Teach mode Teach mode is used for robot program generation using simple geometric teaching This is the robot is first moved to the next target position in KIS MET When the user is satisfied with the position in the second step the robot motion command is generated for this position in the robot program According to the current robot programming code in use various submenus are displayed by KISMET Parameters for some commands are requested by KISMET interactively in the textport When you start teaching you are asked by KISMET to enter the program name of the file to be created The string you enter at this point is used for the comment in the title line of IRDATA only The final filename is entered in the textport after stopping the TEACH mode During teaching the generated code is stored locally in main memory by KISMET The final code is saved on disk only after you have stopped teaching Note The full documentation for the different robot programming codes is not given in this gui de Available programming codes and commands are partly installation dependent 11 2 The TEACH Panel _ Mode ON IRDATA Command Groups MOTION TCP Of fset Parameter Program FLOW Arithmetic Datalist Data I 0
44. ulates IRDATA or IRC Programming Modul Creates IRDATA orIRC files using WFRM PATH and a 3 pia Shean Robot Program inIRL PASRO VVFRM attributes interactivly TDL Basic Operations IRDATA IRC j Programs Figure 34 WFRM Path Lists Module architecture and dataflow in the OLP system simulates creates Using KISMET and the workframe concept as described in this section is a combination of graphical and textual programming techniques this time consuming step as described above will become obsolete The workframe concept is mainly intended to automate the transfer of motion command target positions into the textual program body especially after any changes in the real workcell geo metry In this concept all motion targets used in the high level robot programming language e g PAS RO ROBCAD TDL VAL II IRL etc are specified using symbolic adressing All working positions of a robot task workframes WFRM are define in the structured geometric database of KISMET The WFRMs are connected via references to the objects in the workcell A trans formation matrix allows positioning of the WFRM relative to the object Thus the workcell as sembly topology is also connected with the WFRM definitions All WFRMs of a subtask are combined into a WFRM PATH The sequential order of the WFRMs in the PATH corresponds to the order of the target positions in the final robot program Each WFRM PATH can be uniquely identified
45. ure 28 The Simulate Menu e Activate Mechanism Selection of the active mechanism which can be a robot or any other kinematic structure as well as the selection of the programming language to be used The selcted mechanism is displayed in the active field while the selected language is visi ble in the Syntax field 10 2 1 The Program Execution Panel This panel is used for simulated robot program execution It includes the commands for robot program load start stop verify and delete e LOAD A robot program is loaded for subsequent off line simulation During reading the program is checked for syntactic correctness and an internal data structure I code is created within KISMET The I code is robot language independent If any error is encountered by KIS KISMET User Manual Page 53 SIMULATE MET during program read the vi editor is started The cursor shows the program line where the error was detected You can leave vi using the q command For each robot program loaded a menu entry is created in the robot program submenu The menu is involved during program selections Run Stop Delete Verify Note The program to be loaded is assigned to the active robot i e it is read into its virtual controller RUN Starts a program for off line simulation The program to be started is selected from the pro gram menu which is created during program Load Stop Stops a off line simulated p
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