|Enables users to assign resource tasks
In previous releases, robot programs consisted of robot sequences. Sequences could be created independently of a particular robot, although ultimately a robot had to be assigned to a sequence in order to make it work. The old robot sequences were listed under the process node of the PPR tree. As of V5 release 10, robot programs are created for a specific robot and are consequently listed under the robot's data, in the resource node of the PPR tree. Robots may have more than one task created for them. When a robot is assigned to a process activity, the tasks created for the robot may also be assigned to that activity.
To create a link between process planning and robot programs, the concept of active task has been introduced. Because users can create more than one task for a specific resource, they must select the task they want performed in conjunction with a particular activity. The Set Active Task command enables users to do so.
The resource assignment can be translated by "The resource R implements the Process P". The user may now assign an existing task to a resource in the process plan. Assigning resource tasks extends this concept to get "The resource R implements the Process P by running Task T". This allows the process planner to simulate the process and have the resources working on their tasks together.
Define and connect resource IO
Users can create IO states for programmable resources. The user can then create activities in the resource tasks to evaluate these states or to make the resource wait for a state to be evaluated. This simple "set" and "wait" mechanism is used to synchronize resources. IO connections between robots can be visualized and a dedicated user interface allows the users to easily alter the IO map.
Monitor IO during simulation
The user may monitor the status of the IO states and signals using the IO Monitor panel. The user may perform dynamic analysis of the IO states by ignoring all the IO signals or by selecting the required IO lines from the multi list to force a change in signals.
Define Interference Zones
Users can define interference zones, and create activities defining when a resource has either entered or cleared the zone. Whenever a resource is in a zone, no other resource can access the same zone.