Real Mode Screen: End Effector Information tab

No.

Item

Description

1

Real Mode ( )

Sets the robot test play mode.

• Real mode: Operates an actual robot to test the task in the task list.

• Virtual mode: Uses a simulator screen to test the task in the task list.

2

Total time

Displays the total time elapsed after the task execution.

3

Total count

Displays the total number of task executions.

4

Average execution time

Displays the average time spent to execute one cycle of the task in the task list.

5

Information Screen Shift Tab

You can switch between the robot information message screen, end-effector information screen, and input/output information screen.

• Information Messages tab: Displays information messages that occur during playback.

• End Effector Information Tab: Displays the center point of the robot tool, the tool weight and the collision and force information.

• I/O Information Tab: Displays the I/O information of the controller and the flange.

6

Tool center point information area

Displays the tool center point information configured through the tool center point and weight configuration functions of the set TCP command or the jog.

7

Tool weight information

Displays the tool weight information configured through the tool center point and weight configuration functions of the set TCP command or the jog.

8

Collision information area

Displays the collision sensitivity value set for the area where the robot is currently positioned.

9

Force information area

It displays the force information occurring in the Base, World, User, and Reference coordinate systems. The Reference coordinate system displays force based on the coordinate system information applied to the robot.

10

Speed slider

It sets the speed of the robot in a real or a virtual mode.

11

Stop button

It stops the current task.

12

Execute/pause toggle button

It executes or pauses the work in the task list.

13

Time

It displays the time spent on the corresponding command/skill.