T O O L B A R S

Toolbars 10

This chapter will introduce you how to work with EASY-ROB™

toolbars. EASY-ROB™ contains seven toolbars. Each toolbar
groups a set of functions. Using toolbars one can easily choose
the appropriate function and manipulate with it. To activate any
function from specified toolbar, you need to click on an Icon
once or twice with left mouse button. You can also manipulate
with position of each toolbar. To do this, move the mouse
cursor in rectangle area (not on an Icon). Press and hold the left
mouse button and drag the toolbar to desired position on the
Screen. If you hold a mouse cursor over an Icon, Toolbar Tips
will show you description and function of a current Icon, as well
a as full description of the Icon in the Status bar. The Picture
below shows EASY-ROB™ Menus, Toolbars and Status bar.

As you can see on the Picture above, the Status bar also gives
you information about current selected 3D CAD component or
Tag point, current selected mouse mode, selected translation or
rotation, absolute or relative coordinates and standard windows
indicators (Num Lock, Caps Lock, Scroll Lock).

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Load/Save Toolbar

Load/Save Toolbar groups a set of

functions, which load or save a Cell file, or
load file from the Library. Activating
functions from this Toolbar, File Dialog
Box appears, which allows you to load or
save the Cell files.

Activating the function Load from Library Dialog Box appears,

which allows to load a file from the Library. The Table below
describes functions of Load/Save Toolbar.

Icon Description
Loads Cell File
Saves Cell File.
Loads Files from the Library.

Note: For more information about Load from Library see

Chapter 3 “EASY-ROB™ Files”.

Render Toolbar

Render Toolbar contains set of

functions, used for changing the
model of loaded robot and
environment bodies as well as
floor type.
Table below describes each
function of Render Toolbar.

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Icon Description
Turn on / off the Render Scene Light.
Switches all models in Render scene to Points.
Switches all models in Render scene to Wire Frame
or Volume models.
Switches all models in Render scene to Bounded
Boxes models.
Hides back surfaces of models. So called
CULLING.
Shows / hides floor.
Sets floor to Wire Frame.
Resets view to default. Press ESC when mouse is
View mode.
Switches Simulation-View to CAD-Preview.

Note: Command Show Floor in Wire Frame (Table above) has

effect only if floor is in ON state.

Run-Animation Toolbar

Run-Animation Toolbar handles

the Simulation of robot. The Table
below shows all available functions
and descriptions of the Run-
Animation toolbar.

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Icon Description
Runs the program for Animation
Stops the program.
Continues the program.
Aborts the Animation
Stops Animation on each step.
Loops Animation.
Toggles Animation ON / OFF.
Decreases the step size of animation.
Increases the step size for animation.
Output window. Shows variety of values of EASY-
ROB™ Input /Output.

Mouse Mode Toolbar

Mouse Mode Toolbar contains a

set of modes that provide easy
navigation of Camera View and
motion of robot joints with its tool,
in respect to variety coordinate
systems. You can easily translate,
rotate and zoom in any selected
View by mouse. The Mouse Mode
provides full view of render Scene,
so you can view robot from any
position. The table below shows
all available function in the Mouse
Mode toolbar.

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Icon Description
Translate, rotate and zoom World View. (ESC-Key
will reset the view)
Moving TCP with respect to the Tool coordinate
system frame. With double click on the Icon you can
manually specify position and orientation of TCP with
respect to the Tool coordinate system. Pressing the
Ctrl-Key, while mouse moving, will rotate around the
current axis (x, y or z)
Moving TCP with respect to the World coordinate
system. With double click on the Icon you can
manually specify position and orientation of TCP with
respect to the World coordinate system. Pressing the
Ctrl-Key, while mouse moving, will rotate around the
current axis (x, y or z)
Specify a new absolute joint position. With double
click on the Icon you can manually specify absolute
position of selected joint.
Moves Robot base. By double clicking you can
manually specify position and orientation of robot
base.
Pressing the Ctrl-Key, while mouse is moving, will
rotate around the current axis (x,y or z).
Pressing the Shift-Key, while mouse moving, will
move the robot base with respect to its own frame
Pressing ESC will reset the robot base pose.
Note:
To save the base pose, select from Simulate menu:
Save -> Save robot base position
Translate and rotate current selected 3D body. By
double click you can specify manually position and
orientation of 3D Body.
The Ctrl, Shift and ESC Kay have the same effect as
above.
Moves all bodies to current selected group from 3D
CAD.

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Moves current selected tag point. Note: All Tags are

with respect to the work object frame.
A double click will open the Tag Window Dialog
The Ctrl, Shift and ESC Key have the same effect as
above.
Moves Tag Path of Work object.
A double click will open the Tag Window Dialog
The Ctrl, Shift and ESC Key have the same effect as
above.
Toggles between Translation and Rotation. The
function works with functions 2,3,5-9. You can also
press the Ctrl-Key to toggle between translation and
rotation mode.
Toggle between Absolute and Relative Coordinates.
The function works with functions 2,3,5-9. You can
also press the Shift Key to toggle between translation
and rotation mode.
Jogging robots TCP, without changing TCP’s
position. The function works with function 5 (move
robot base), 6 (move current selected body), 7 (move
current selected tag) and 8 (move tag for work
object).
Increases the step for Robot Teach mode.
Decreases the step for Robot Teach mode.

For more information about Mouse Mode functions see also

Menu: Aux->Mouse Mode.

Note: The space bar allows you to toggle between the current
and the last mouse mode. You should not waste time to find the
icon for the e.g. world view, just press the space bar, pan or
rotate the scene, press the space bar again and continue with
e.g. move TCP or move tag.

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On/Off Toolbar

On / Off Toolbar contains

functions, which you can enable
or disable. The Table below
shows all available On/Off
functions.

Icon Description
Sets all Robot bodies visible or invisible.
Sets Robot tool visible or invisible.
Sets all bodies visible or invisible.
Sets Robot TCP coordinate system ON / OFF.
Sets all Robot coordinate system ON / OFF.
Shows or hides all Tag’s coordinate system.
Enable or disable dynamics.
Shows or hides Robot TCP Trace.
Stop On Dialog
Shows current motion command in program window.
Opens the Teach window.
Enables or disables collision.

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Note: Stop On button opens the Dialog to decide, if the robot

should stop on Limit Switches, Joint Speed exceeded, Joint
Acceleration exceeded, Collision detected, or any of the above.

3D CAD Toolbar

3D CAD Toolbar contains

functions for manipulating 3D
CAD. The table below shows
all available functions.

Icon Description
ON / OFF current coordinate system
Selects next 3D body in a current CAD group.
Selects previous 3D body in a current CAD group.
For entering the position of a current selected 3D
body.
For entering the relative position of current selected
3D body.
Resets the position of a current selected 3D body.
Saves the position for current selected 3D body.

Note:

When the simulation starts, the robot position and all CAD
geometries will "jump" to their start location, to make sure that
the simulation will start always with the same status. You need
to save the body position when the new position is the start
location. From the Simulation Menu, select Save/Reset all

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environment body positions to save or reset all

locations.

Move to Target Toolbar

Move to Target Toolbar contains

functions for moving Robot. The table
below shows all available functions.

Icon Description
Moves the Robot to his home position.
Moves the Robot to joint position.
Moves the Robot to Cartesian position.
Moves the Robot relative to Cartesian position.
Moves the Robot circular to Cartesian position.
Moves the Robot circular relative to Cartesian
position.
Moves the Robot to tag position.

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