Device Analysis

Degrees of Freedom (DOF) Limit

These settings determine what behavior you can expect from the system when Degree of Freedom (DOF) limitations are exceeded during a simulation. The choices are:

Off: (deactivated) the default value
Highlight: Highlighting the transgression on the geometry
Verbose: Setting a verbose mode when a message is displayed
Interrupt: Interrupting the simulation.

If you select Highlight, you can select the color in which you wish to see the highlighting occur. This color also highlights transgressions when you are in Verbose or Interrupt mode. The message displayed in Verbose mode is also displayed in Interrupt mode.

The DOF limitations are enabled when you use the Analysis Configuration and Analysis Mode On/Off commands. When Analysis Mode On/Off is set to On, the current settings are used. If Analysis Mode On/Off is not available in the current workbench, the default settings are applied.

Travel Limit

A user- or manufacturer-determined limit on movement of each joint in a device.

The default value for this option is Off; the initial color setting is shown above. Please note that only the driven part (the part driven by the command) is colored. Not all parts belonging to the command/joint are colored.

Velocity Limit

The maximum speed at which a device may move.

The default value for this option is Off; the initial color setting is shown above.

Acceleration Limit

The maximum acceleration rate for a device.

The default value for this option is Off; the initial color setting is shown above.

Caution Zone

A user-created zone that may be an absolute number that is added to the travel limit, or it may be a percentage of the travel limit. The caution zone exists only in the CAM world; it does not exist in the robot controller. It enables users to leave a margin so that when calibration and other adjustments are required in the real world, the travel limits are not exceeded.

The default value for this option is Off; the initial color setting is shown above.