In this section you will learn how PathPilot is organized and how to find and use each tool or feature.
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Overview
Pathpilot is a combination hardware and software system that you use to control your robot. From the software you can do activities like:
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The PathPilot interface is divided into top and bottom sections: the Notebook section is in the top half of the screen, and the Persistent Controls section is in the bottom half.
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Notebook section reference
The Notebook section makes up the top half of the screen, and the areas that display change depending on system that you use to control your machine. The into the following tabs:
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File Tab
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Settings Tab
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Conversational Tab
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Jog Tab
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Status Tab
Main Tab Reference
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By default, the Main tab is active when you power on the PathPilot controller. The main tab will show the program that will get executed when you start. In the top left corner there's a drop down box where you can select previously loaded programs. From the Main tab, you can do the following activities:
Access recently loaded robot programs from the Recent Programs drop down menu
View the currently loaded robot program
Enter robot commands in the Manual Data Entry line (MDI line)
Expand the width of the robot program preview
File Tab Reference
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From the File tab, you can do the following activities:
Transfer robot programs to or from USB drives
Edit robot programs
Load files into PathPilot to run programs
Move files within the system
This tab shows 3 sections. The left hand pane shows locations on the controller's hard drive. If a USB drive has been inserted into the controller, a middle pane appears which displays files stored on the USB drive. The right-most pane is a preview of the currently highlighted file.
In the left window, you will find robot programs that you have saved, or come with the controller. The root of this directory, accessible by pressing the Home button, is located on the controller's hard drive at ~/nc_files/robot_programs
clicking on a file entry will show you the code in the file preview window
When you click "load program" (top right of disk location view), the chosen program will be loaded and the "Main Tab" will be activated
Settings Tab Reference
From the Settings tab, you can do the following activities
Connect to Tormach CNC mills
Master the robot joints.
Change the linear units display (inches, millimeters, meters)
Change the angular unit display (degrees or radians)
Access software tools including HALScope, HALMeter, Rviz, RqtGUI
Reload the robot’s program interpreter
Offsets Tab Reference
From the Offsets tab you can create or modify:
User frames (analogous to work offsets in CNC programming)
Tool frames (analogous to tool offsets in CNC programming)
The offset between the robot and a connected PathPilot controlled machine tool
Conversational Tab Reference
From the Conversational tab, you can do the following activities:
create new robot programs
edit existing robot programs
record waypoints
For more information, please refer to Conversational Programming.
Jog Tab Reference
From the Jog tab, you can do the following activities:
jog each robot joint individually
jog in cartesian space
For more information, please refer to Jogging.
Status Tab Reference
From the Status tab, you can do the following activities:
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View diagnostic machine information.
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Read system messages.
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Monitor inputs, and set of outputs.
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https://tormach.atlassian.net/wiki/pages/resumedraft.action?draftId=2664464389
Persistent controls reference
Persistent controls are available to the user no matter what task the user is undertaking - they are always visible and active. The persistent controls are described in the following pages: Persistent Controls