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Trajectory
Two commands operate together. Robot Trajectory teaches and plays one trajectory. Trajectory Player plays the trajectories of all the robots on one clock.
The command makes a Trajectory object for a robot, or opens the panel of a selected trajectory again.
- With a trajectory selected: the command opens its panel.
- Without a selection: the command uses the selected robot (or the only robot in the document) and makes a new Trajectory object.
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Select the robot for the new trajectory.
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Click the Robot Trajectory icon in the toolbar.
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The panel opens. It has three sections: the robot and the trajectory name, the waypoint table, and the playback controls.
The waypoint table is the center of the panel. See these pages:
- Waypoints: the table columns, the buttons, the pace units, and rows that are not valid.
- Teach example: a short trajectory, step by step.
| Control | Function |
|---|---|
| Play / Stop | Start or stop the trajectory preview |
| Scale | Simulation speed override. It does not change the plan |
| Loop | Play the trajectory again and again |
The trajectory keeps the waypoints as JSON in its WaypointsJson property. Thus they save with the document.
These properties control the speeds and the path preview. Select the robot or the trajectory in the tree to see them.
| Property | On | Function |
|---|---|---|
PtpSpeedDefault |
Robot (Kinematics group) | Pace of a new PTP waypoint, % of the maximum speed |
LinSpeedDefault |
Robot (Kinematics group) | Pace of a new LIN waypoint, mm/s |
SpeedOverride |
Robot (Kinematics group) | Global speed scale for the plan, 1 to 100 % |
PreviewSamples |
Trajectory (Display group) | Path preview points for each segment |
Note the difference: Scale in the panel changes only the playback preview. SpeedOverride changes the plan and its duration.
The Trajectory Player command plays the trajectories of all the robots in the document on one clock. The command is available when at least one trajectory has more than one waypoint.
Use it to examine multi-robot cells for time and coordination.