Recipe

Create an entire motion profile for your robot.

Recipe Table Tool Bar

(From left to right)

  • Load Button allows you to load/import a previously saved Recipe file.

  • Save Button allows you to save your Recipe to a file.

  • Selected Recipe Action Label displays the current selected recipe action ID in the recipe table.

  • Purge Section allows you to set a specific recipe as your purge recipe and run it.

  • Repeat Section allows specify whether you would like to repeat the recipe over and over after a specified time (seconds).

  • Point Collection Section allows specify what point collection will you like to use for your Recipe. (This will show your saved points files)

  • Starting Point Section allows you to specify what the Robot's starting point is, if the Robot is not located at that point the recipe will command your robot to move there.

  • Duplicate Button allows you to duplicate a selected recipe action.

  • Arrow Up Button allows you to move a selected recipe action up a row.

  • Arrow Down Button allows you to move a selected recipe action down a row.

  • Plus Button allows you to add a new recipe action.

  • Delete Button allows you to delete a selected recipe action.

  • Clear All Button will clear all recipe action from the Reaching Table.

NOTE: it is recommend that you end your recipe at the same point as your starting point, that way when you start your recipe again the robot is already located at the starting point.

Recipe Table

(From left to right)

  • ACTION ID displays the index of the recipe action in regards to the Recipe Table.

  • MOVE TYPE allows you to specify whether you would like a Joint or Cartesian motion. (Cartesian Motion coming soon)

  • TARGET POSITION allows you to specify the point where you would like the robot to move to.

  • DETAIL displays a description of the type of Cartesian move detail needed. (Cartesian Motion coming soon)

  • DETAIL VALUE allows you to specify a value for the Cartesian detail. (Cartesian Motion coming soon)

  • SPEED % allows you to specify the speed percentage that the robot will use to get to the selected recipe action Target Position.

  • STOP AFTER allows you to specify if you want your Cartesian move to stop once its reached the Target Position. (Cartesian Motion coming soon)

  • DIGITAL OUT allows you to select a DO for triggering. (The selected DO will trigger when the Robot is on the way to the Target Position)

  • DO STATE allows you to specify whether you would like your selected DO to change to a HIGH or LOW state.

  • DWELL AFTER allows you to specify whether you would like the Robot to dwell/stop for a specified time after the Robot has reached the selected recipe action Target Position.

Bottom Action Bar

  • Abort Button allows you to abort the selected/active Robot's current motion.

  • Run Recipe Button allows you to run the current Recipe. (Always recommended to save your Recipe after all changes are done)

  • Abort All Button allows you to abort both Robots motion.

Note: make sure the drive is enabled before trying to run recipe.

  • PC Mode: drive is enabled automatically when clicking on Run Recipe Button.

  • Teach Pendant Mode: press and hold the deadman switch on teach pendant to enable drive, then click Run Recipe Button to run the current recipe.