**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly. Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment. As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair. The information contained in the resource materials are subject to change at the sole discretion of DPAM.
Simulations in WINCAPS III are vital to fully utilizing the software. Simulations are commonly used for verification of robot reach, cycle times, and other feasibility scenarios. Please keep in mind that the simulation function is available with the Full version of WINCAPS III; it is not enabled in the Trial or light versions.
You can find the link to download WINCAPS III here. We also recommend reviewing our article on creating a new project prior to creating a simulation.
Step by Step Guide
Once you have a compiled project with no errors, you are ready to enter create your simulation. To enter simulation mode, go to Debug -> Simulation Mode.
WINCAPS will now enter simulation mode, and you’ll see your toolbars change at the top. Here you will see labels for the following:
After clicking to start the selected task, you will receive a prompt to run a single cycle or continuously. You can choose either and click OK.
The selected task will now run and you’ll see the executing line of code highlighted in yellow.
While running your simulation, you can also display the Arm 3D View, and watch the robot arm move through the motions. This is also applicable to viewing variables, and IO as the simulation is running
When finished with simulation mode, repeat step 1 above by clicking on Debug -> Simulation Mode. This will return you to normal WINCAPS.
Some notes about WINCAPS Simulation:
- You cannot edit the program while in simulation mode. You must first exit simulation mode to make your changes, then re-enter.
- Simulation mode has the same functionality as both Auto Mode and Teach Check modes on the Teaching Pendant. Therefore allowing you to fully run your program, or step through it line by line.
- The given run time is a cumulative average. It needs multiple cycles in order to settle on a constant number.
- All of the same arm parameters, robot and controller settings are available for modification (Project -> Parameter). For example payload, motion optimization, software limits, etc.