Select Program➔ Simulation Event Instruction to provoke a specific simulation event. Simulation events have no impact on generated code and are used only to provoke a specific event for simulation purposes.

Simulation events using the graphical user interface allow you to:

● attach or detach objects to robot tools

● show or hide objects or tools

● change the position of objects and reference frames

Robot Programs - Image 31

For example, if the robot moves to a specific location to grab an object we can set up an Attach object event to move that object together with the robot. Then, after the robot has moved and it is ready to leave the objects we can set up a Detach object event to leave any objects the tool has grabbed.

Robot Programs - Image 32

Note: Specific events can also be simulated using macros (programing experience is required). For example, using the API it is possible to make objects appear randomly at specific locations for a pick and place simulation.

Note: When attaching object to the tool, the closest object is attached if it is not farther from a given distance. This distance is 200 mm by default and can be changed in: Tools➔Options➔Maximum distance to attach an object to a robot tool. Also, by default, the distance is checked from the TCP location to the object reference. Alternatively, it is possible to use the distance between the TCP and the object geometry by selecting Check shortest distance between TCP and the object shape.