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20. Simulation
This chapter explains the simulation operation methods.
Simulation can not be used with the mini edition.
The simulation function only supports the "RT ToolBox3" standard edition. It can not be used with the
mini edition.
Simulation can not be used with Movemaster commands.
Be aware that even with the standard edition, the simulation function can not be used when
Movemaster commands are selected.
You can not communicate with the robot controller during a
simulation.
You can not communicate with the robot controller during a simulation. To communicate with the robot
controller, click on the [Home] tab → [Mode] group → [Online] button to change to online mode.
With an actual robot, an overload error might occur.
Be aware that even if you run the simulation with the work and hand weight set and this works
properly in the simulation, when you actually operate with the robot, an overload may occur and make
operation impossible.
If there is an input signal wait in the program, use pseudo-input.
When you execute a program in simulation and there is an input signal wait in the program, the
program does not move to the next step until that command is executed. Therefore, if there is an input
signal wait, use the pseudo-input function from the signal monitor.
Operation that depends on external input can not be simulated.
It is not possible to simulate actions dependent on external input such as force sensors.
In simulation mode of MELFA ASSISTA, “Wait” command is disabled.
If “Wait” command is executed in simulation mode of MELFA ASSISTA, next command is executed
without waiting.
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