User`s guide

8. Simulator
CAD data setup orientation
Some CAD data coordinates may be different from those of the simulator.
Adjust the coordinates to the correct position by changing [Property]-[ Rotation] after
loading the CAD data.
When loading CAD data as a hand, set the origin of the CAD data in the Tool0 position of
the manipulator. Set the coordinates to the correct position by changing [Property]-
[ Position] after loading the CAD data.
Number of available layout objects
You can create as many layout objects as you want.
However, when there are many objects to display, the display update interval becomes
longer and the judgment of collision detection becomes rough. Especially for CAD data,
displaying data that is too complicated is not recommended.
8.4.3 Specifications and precautions for Simulation (program execution on PC)
Overview
The Simulator produces the robot motions virtually on your PC.
It is designed to make the performance gap between the real system and the virtual system
as small as possible. However, a few differences in the virtual system are inevitable. The
operation time prediction and collision detection do not guarantee the precision.
Fully understand the contents in this chapter and check if the real system operates without
any problems before you go to full-scale operation.
Operation time prediction
Operation time displayed in the Simulator window is approximate time required for
executing the program.
Time for the motion commands such as Go, Jump reflects the Speed and Accel values in
the program. The operation time may vary when you operate the real robots from the
displayed operation time according to conditions such as the Fine setting and servo delay.
In particular, when small ranges are used with the Fine instruction, the real robots need a
longer operation time for accurate positioning.
The simulation cannot guarantee the precision but the margin of error in the operation time
is within 10% when you execute motions with the standard cycle time (with the default
Fine settings).
Considered in the operation time prediction Not considered in the operation time prediction
Robot model
Speed settings (Speed, Speeds, etc.)
Acceleration settings (Accel, Accels, etc.)
Load (Weight, Inertia)
Others (ARCH, CP)
Fine setting
Error within 10% from the default
(Motions of standard cycle time)
With larger setting than the default,
the operation time will be shorter.
With smaller setting than the default,
the operation time will be shorter.
Servo delay
With the real robots, the operation will be longer.
Time for the other commands than the motion commands is a virtually executed time on
PC; therefore the actual time varies widely depending on the PC performance.
When measuring the motion time between two points, as simple program as possible is
recommended. Refer to 8.2.2 Working with a user created system - 8. Measure the robot
operation time.
236 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4