Simulation in RoboStudio with an intelligent component problem

aizagirre

We created a small simulation with an intelligent component. The intelligent component has a plansensor such that when the robot intersects it, then the plane sensor sends a signal (e.g. it sends the signals GS1 and GS2 to stop the robot). We use as an input signal to the intelligent component from one of our output signals that we use (e.g. an output signal from a device net). We also created a Rapid program (initially activating the output signal from the device net) such that the robot goes from one point to a second one crossing the plane. We realized that there are two simulation ways or types. The first one is the simulation in Rapid, where you can include break points go step by step etc, and a second one in the view window where the robot and the other created elements are displayed (to start the simulation we have to click on the play button that looks like a small triangle). 

Anyway, the simulation works fine in the display or view window, and the robot stops when crossing the plane (although it does not stop on the break points of rapid), and the simulation does not work in Rapid, i.e. it crosses the plane without stopping (althgough it brakes on the brake point of rapid).

Is there any way to use Rapid correctly in the simulation such that the robot stops when crossing the plane sensor, or if not why is Robotstudio programmed this way.

Sincerely yours,

Alberto Izaguirre

Henrik Berlin

This is a technical limitation.

When a simulation is started from RobotStudio, it uses TimeSlice-mode, i.e. RobotStudio owns the time and provides one time slice each to the particating controllers. When all simulation participants have completed execution of the provided time slice, RobotStudio moves on to the next time slice. This way all controllers can be synchronized. The downside is that we have been forced to disable the RAPID breakpoint feature in this mode since breakpoints do not work well with time slice mode. (Note that you can also configure RS to use FreeRun mode, when all controllers can run freely. In this mode, RS time will just fly away and this does not make sense in your case.).

On the other hand, when the RAPID program is started from the RAPID Editor, only the RAPID program is started and not the RobotStudio simulation (incl. Smart components). In this mode, the virtual controller manages the time itself, and it is free to run in its own pace.

The workaround / compromise is to exclude the controller from the simulation (uncheck the controller in the Simulation Setup dialog and Simulation Scenarios), start the RobotStudio simulation, and then start the robot program from the RAPID tab. Then it will stop at the breakpoints.