How to create simulations in WINCAPS III

Step 1

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.

Step 2

WINCAPS will now enter simulation mode, and you’ll see your toolbars change at the top.  Here you will see labels for the following:

Step 3

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.

Step 4

The selected task will now run, and you’ll see the executing line of code highlighted in yellow. 

Step 5

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

Step 6

When finished with simulation mode, repeat step 1 above by clicking on Debug → Simulation Mode.  This will return you to normal WINCAPS.

Step 7

Some notes about WINCAPS Simulation:

1. You cannot edit the program while in simulation mode.  You must first exit simulation mode to make your changes, then re-enter.
2. 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.
3. The given run time is a cumulative average.  It needs multiple cycles in order to settle on a constant number.
4. All of the same arm parameters, robot and controller settings are available for modification (Project → Parameter).  For example payload, motion optimization, software limits, etc.

Please see our additional resources found in the online manuals, as well as our YouTube channel.