3D layout check

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Scan

Open the area exported from ReCap as E57 (with or without panoramas), or a PTS / PLY. It is read and thinned on this computer: nothing is uploaded.

Point spacing

Most points shown

Open scan…

No scan open.

Colour

Point size

Edge shading

Hide above

Hide below

Scan origin

The white dot with its axes in the view: the scan's coordinates (the robot's position, the tool point, the fields "from the scan origin") are read from it. With Move the scan with it, moving or turning the origin moves the scan too, with the targets and objects on it; the robot stays.

Move the scan with it Show origin

Robot

Robot family

Model

X (m)

Y (m)

Z (m)

Rotation (°)

Show reach of the wrist (axis 5)

Tool point (from the scan origin)

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Tool

Tool

Name

TCP from the flange: tframe (mm, quaternion)

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Show the TCP frame (X red, Y green, Z blue)

Load tool shape…

The tool's own shape (STEP or IGES, also STL, OBJ or GLB, as drawn at the flange) is read on this computer; a Pack&Go brings the shape of the tool on its robot. Each target is checked with its own tool (Targets); Download scene keeps the tools.

Targets

Tool direction for picked points

Import Pack&Go…

Target, tool	Result	Margin	Conf

Each target is checked with its tool: the tool of its move in the Pack&Go, or the tool on the robot when it was picked. Go puts that tool on the robot. The copy button in a row (or Duplicate in the bar, Ctrl+D) makes a copy of the target in the same place, with its tool and its object, to move from there. Ctrl+click names, or targets and objects in the view, to select several (or Ctrl+drag a rectangle in the view; Ctrl+A: all): they move and turn together. A target picked on the face of a cell object belongs to it (or choose it in the bar under the view): it moves with the object, and Save object keeps it, so the object brings its targets when it is used again.

Path

Approach and depart along the tool mm

Clearance to the scan and objects, at least mm

#	Step	Move	Conf

The configuration of each target (Conf, ABB confdata) is chosen for the shortest moves through the path, from every configuration that reaches it. Where a move needs one, a point is added on the way: a straight move (MoveL) that no configuration can make gets a via point (or becomes a joint move); a joint move that flips the arm or the wrist, or turns axis 4 or 6 more than half a turn, first backs off along the tool. With Approach and depart, each target is reached straight from that distance back along the tool and left the same way. With Clearance on, the robot's links and its tool are checked against the scan and the cell objects along every move (to about 5 cm): a move that comes closer is marked for you to decide: Go around adds a via point over or beside it, Accept keeps the move as it is (the parts it passes through will be removed for the installation). A target can be in the path more than once (back to a home or safe point, say): select it in the view or the Targets table and click + on the step it should follow; with nothing selected, + repeats that step's target. A Pack&Go brings its own moves as the path. Keep turns a point added on the way into a target, to move it.

Cell objects

Tool racks, parts added from files, and the parts of an imported Pack&Go (read from the file's own display meshes). Click one in the view, or its name here, to move or rotate it; the targets that belong to it (picked on its faces, or on its work objects) move with it. Ctrl+click to select several objects (and targets), Ctrl+drag a rectangle in the view, or Ctrl+A for all: they move together and turn about the middle of the selection. Files drawn in SolidWorks have Y up: choose Up: Y before adding them.

Add object from file…

Object

Rack name

Slots

Pitch (mm)

Tools

Tip height (mm)

Move out (mm)

Turn tools (°)

Slots X (mm)

Slots Y (mm)

Slot	Tool	In	Out

Rack shape…

One tool per slot, its TCP at the tip height: hanging (tool axis down, lifted straight up) or lying (pointing into the rack, slid out to the front). In: the robot reaches the tool in its slot. Out: it moves the tool straight out, in 1 cm steps, without changing configuration (each arm configuration that reaches the slot is tried). Green: fine; amber: a joint within 5° of its limit, or axis 5 within 5° of 0° (wrist singularity); red: not reached, or the move out breaks off. Click a result to go there with the tool.

Measure and save

Open scene…

A scene keeps the robot and its position, the tools, the targets, the racks and where the Pack&Go parts are (open the Pack&Go again to see them). The scan stays in the scan folder.

Saves the points shown (hidden levels are left out) around the robot base. In RobotStudio, Polytec › Import point cloud puts them at the base of the selected robot, or of the first robot in the station. One-time setup: download the RobotStudio add-in 1.3, then in RobotStudio Add-Ins › Install Package.

Open a scan to start

Crop the area in ReCap and export it as E57 into its folder in the scan library (Group › Plant › Area). Then open it here. The robot appears in the middle of the scan; place its base where it will stand, then pick the points it must reach.

Open scan…