User`s guide

8. Simulator
Collision Detection Precision
The Simulator Collision Detection provides an indication whether robots collide with the
peripheral equipment or not when the program is executed. It does not consider the error
in trajectory due to servo delay. Be aware that a margin is necessary for the real robot
system.
The Simulator judges collisions more accurately when the robot motion speed is slow.
The judgment of collision detection during program execution is accomplished with the 3D
display update. When your PC has high graphics performance, the collision judgment
becomes more accurate.
In Playback mode, the Simulator judges collisions in all steps and is useful when you need
accurate detection.
The Simulator cannot guarantee the precision but the margin of error in the collision
detection is within 10 mm when you execute motions with Speed 100% on a PC of the
recommended specifications.
Motion duty and Overload error
In the Simulator, you cannot detect the overload error. Even when the motion duty is too
high and the robot should have the overload error and stop, it keeps moving.
Duty 50 % - As a measure of possible duty, the robot can really keeps moving at duty 50%
with the maximum acceleration/deceleration speed and without the overload error.
However, it depends on the robot model type, load, points to go to, and
acceleration/deceleration speed setting, etc.
Time progress difference by PC condition
On a PC that meets the system condition, progress of the time in the Simulator and the real
time (as you see on the watch) are almost the same (few percentages difference).
If you are running other applications such as Windows Media Player simultaneously, the
time progress in the Simulator can widely vary from the real time. In this case, use the
Simulator function while other applications are not running.
Also, on some PC models, the time progress in the Simulator may widely vary from the
real time. In this case, set the [Performance] at 16 ms and the [Position Precision] at 20 ms,
which may close the gap of the time progress.
Time confirmation program
(If the two printed times are within 27 to 33 seconds, there is no problem.)
Function main
Print Time$
Wait 30
Print Time$
Fend
Execution on PC below the minimum of specification
You can install the EPSON RC+ and use the Simulator functions on a PC that doesn’t meet
the minimum of the specification.
However, it doesn’t guarantee the correct motions because the following may happen:
- Operation time prediction is not accurate
- Collision Detection has a large margin of error
- 3D display skips updates
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 237