Basic settings

Functions used

Export to SEW-Workbench

Adds the export function for the SEW-Workbench to the IEC project.

Activate collision response

Activates the "Collision response" function (add to the IEC project). For more information regarding the operating principle and startup, refer to chapter Collision detection (CollisionDetection).

Precontrol

Activate the "TorquePreControl" function (add to the IEC project). For more information regarding the operating principle, refer to chapter TorquePreControl.

Collision response

Response to detected collision

INFORMATION: Visible only if "Activate collision response" is activated.

Collision response that is to be triggered after detecting a collision:

- Information

- Warning

- True-to-path application stop without output stage inhibit

- True-to-path application stop + output stage inhibit

- True-to-path emergency stop + output stage inhibit

- Axis-wise emergency stop + output stage inhibit

General physics simulation parameters
INFORMATION: Only visible if one of the functions used has been activated and can only be parameterized if at least one coupling has been configured in the axis-joint transformations.

Configure the mounting direction of the drive train output shaft for the joint axes. By default, +Z is always defined as the mounting direction of the rotary output shafts. This can change if there are couplings in the robot that are not already taken into account in the selected kinematic model, but are parameterized via the coupling table in the Axis-joint transformation. In this case, the mounting direction of the driving output shaft in relation to the link coordinate system of the arm section on which the gearmotor of the joint axis is mounted can be specified here for the corresponding joint axis of the coupling.

Example: The ARTICULATED_RRRRRR_M10 has three couplings in most cases. A movement of single axis 4 influences joint axes 5 and 6, and a movement of single axis 5 influences joint axis 6. The drives of joint axes 5 and 6 are mounted on arm section 3 in the same way as the drive of joint axis 4. This is normal for the drive of joint axis 4, which means that the mounting direction is known. Without couplings, drive 5 would be mounted on arm section 4 and drive 6 on arm section 5. Therefore, it is now necessary to parameterize how drives 5 and 6 are mounted on the arm section. For such cases, there is a selection table to specify the mounting direction in ±X, ±Y and ±Z in relation to the link coordinate system of the "mounting" arm section.