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Importing Results

Upon successfully completing a Run in Resolver, results are available to be downloaded.

Within Process Simulate, ensure that the study the export was created from is open. From the RTR Resolver Viewer, click Resolver. Select the results you would like to import and click "Download".

Import Section​

The RTR Resolver Viewer will switch from Resolver to Import. You will be prompted to select a specific result and be shown the estimated cycle time for each of the options. Either Sequential InterlocksRobots exchange release signals once they reach a certain point in the sequence. Interlocks are not areas that robots can reserve in any order but fixed positions where specific robots must wait until... or Spatial InterlocksA spatial interlock is used between two robots that share the same space. To prevent collisions, a signal is used to indicate that a robot is in the zone. There is no priority given to either robot -... with a different number of interlock zones.

Other settings in this dialog include the following:

Copy Exisiting OLP Commands​

If selected, the Copy existing OLP commands option will set the import process to look up the original locations and copy any OLP Commands that previously existed. The original locations will be found using the External ID of the location, which is copied into the location name in the export process. If the original location is not found, the copy process will be skipped.

Automatically Tune Smoothing values​

This feature moves the robots through all paths from the results prior to import and automatically adjust smoothing values to be maximized (best cycle time) and collision-free. Auto-tune was designed for use with RCS, so make sure there is a connection available. If using MOP, please also use auto-tuning. There are two modes to choose from: FAST mode and OPTIMAL mode.

FAST Mode​

Built for speed. FAST mode quickly imports paths using default conversion values tailored to your selected robot OEM. If scraping collisions are detected, it smartly adjusts to a FINE smoothing level. This mode is ideal for rapid validation when your priority is speed—just note that in high-collision scenarios, some smoothing may be less than ideal.

OPTIMAL Mode​

Built for precision. OPTIMAL mode performs an in-depth analysis to find the highest possible smoothing value for each via—based on your allowed values—delivered through our Resolver engine. We've reengineered the API interactions behind the scenes, significantly reducing optimization time while delivering the highest-quality path smoothing available. While the time required still scales with the number of smoothing options per via, the results speak for themselves: ultra-smooth, OEM-optimized paths.

Smoothing Value Conversion​

Click on the “Smoothing Value” button to confirm the smoothing conversion between the Resolver smoothing values and the robot controller smoothing values in Process Simulate. Press confirm. Upon selecting the file, there is a pre-processing step that deserializes the file and determines the smoothing values used in the results for each controller type. The RTR generated smoothing values will be converted to smoothing definitions on a per-controller basis. These conversions are generated through some internal functions in the importer, but can be manually adjusted by the user if desired.

After Import​

In the list of Operations in PS, the imported paths from Resolver will appear. In the PS Sequence Editor, right click on the imported path operation and choose “Set Current Operation”. Play the program to view the collision free paths generated by Resolver.