OCP Tab

OCP Help

byte robotics

  • For more information about the software manufacturer, visit the Byte Robotics website.

OCP Help

  • The latest help is available online at help.byte-robotics.com.
  • Support Package collects diagnostic information and bundles it into a ZIP file that can be sent to support.

Manipulation (KUKA.Sim)

Standard interaction with the robot for planning

Select (rectangular selection, free-form selection, select all, invert selection)

  • Allows the selection of individual objects or object groups for manipulation.

Move

  • This allows a selected object or group of objects to be moved using coordinate axes or radii (rotation around the respective axis).

Interact

  • This allows individual axis angles of kinematic chains (robots or external axis systems) to be changed through direct interaction.

Jog

  • Allows direct movement of a robot’s set TCP using a coordinate system.

Collision Detection (partly KUKA.Sim)

All settings for collision test behaviour

The first three entries are the same as in the Programs tab. The functionality is briefly explained here. Further information can be found in the Collision lists section.

Edit Detectors

  • Opens the Collision Detectors window.
  • Here you can create and edit detector lists.
  • Each detector list has settings and 2 groups of objects that are tested for collision (see below for details).

Enable Detectors

  • Activates the active detectors (in the event of a collision, the colliding objects turn yellow).

Stop on Collision

  • If a collision is detected during the execution of a program, the program stops at that point.

Workspace only

  • When enabled, the robot’s workspace is used to add the possible colliding objects to the list of the respective collision detectors.

Update lists

  • Automatically generates 3 collision lists for the selected robot. If no lists exist before a request, lists are generated automatically.
  • The naming scheme for the lists is Robot name - Process + Support for the effective tasks and Robot name - Support Additional for the intermediate movements.
  • The third list Robot name - Self Collision needs to be populated by hand and can be explicitly activated or deactivated under the collision-free path planning and program optimisation settings.

Reset lists

  • Resets the lists for the selected robot.

Add Floor

  • Creates a component for the collision test with the floor (otherwise the floor is not taken into account).

Collision Free Path Planning

Access to path planning commands and options for planning a path between 2 or more configurations

Path planning commands

  • Opens a list of all collision-free path planning commands (see context menu).

Automatic collision free planning

  • Runs the robot program and collects the transitions marked with HALT statements. After the program run, collision-free paths are calculated for these transitions and added to the program. For step-by-step instructions, see the Automatic collision-free path planning workflow.

Options

  • Opens the Path Planning Assistant window to edit the settings.

Robots

Support Info

  • Displays the compatibility of the robot with our software.

Program Optimization

Access to contour commands and options for optimizing an existing path

Contour helper commands

  • Opens a list of all contour helper commands (see context menu).

Options

  • Opens the Optimization Assistant window to edit the settings.

Data Management

Convert to Standard-VCMX

  • Converts the custom OCP Statements to general statements.

Windows (KUKA.Sim)

Standard UI settings, as in all other tabs

Restore Windows

  • Restores the default view.

Show

  • Displays a selection list of sub-windows that can be turned on or off.