Using the MotoSim Reach Tool

August 12, 2021 15:19
Updated

Introduction

The MotoSim TCP Reach tool is useful for quickly displaying if a robot can reach all needed locations. It either generates a 2D profile or a 3D “Bubble”, showing the reach.

The Reach Tool () can be found on the CONTROLLER Tab. It can be either based off the robot’s wrist (the P point) or the user-defined Tool Center Point (TCP) location.

TCP Reach Tips

Select P-Point (the link between the R and B axis) or Tool
2D or 3D
Level of detail (Rough, Standard, Smooth)
Select a color
Select OK

2D Reach Envelope

3D Reach Envelope (P-Point)

3D Reach Envelope (Tool)

The envelope is based on the P-Point, the link between the R and B axis.

Note how the envelope only partially covers the pallet.

Because the tool TCP is moved, the envelope is adjusted.

Note how the envelope almost covers the pallet

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