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Configure

Studies​

Signing in takes you to the Projects area. Navigate to a cell to see its Studies, which include every Study your company has uploaded to that cell. For the layout of the project page and the sidebar, see Navigate Projects.

Resolver Studies Page

The header summarizes the cell: how many Studies it holds, the best and worst cycle time across them, and how many Runs have completed. Upload Study adds a Study to the cell without going through a Connector.

Each row is one Study:

  • Study Name — select the name to open the Study. Some Studies carry a tag next to the name.
  • Cycle Time — the best cycle time achieved for that Study.
  • Runs — how many Runs have been made against the Study.
  • Status — the state of the most recent Run.
  • Style — the Style applied to the Study, or - when none is applied.
  • Modified — when the Study last changed.

Use Search to find a Study by name, My Items to narrow the list to your own Studies, Columns to choose which columns are shown, and Filter for everything else. The badge on Filter counts the filters currently applied. Long lists are paged, with Previous and Next at the bottom.

Configure a Run​

  1. Open the Study you want to run. The Study page lists every Run made against that Study, along with its best and worst cycle time, how many Runs have completed, and how many robots it contains. Select + New Run in the top right.

    Start a new run from the Study page

    Each row is a Run, showing when it was started, the cycle time it reached, its status, and any labels. Expand a row with the chevron for more detail, or use the controls in the Actions column to download the results or Copy Run to reuse its configuration.

    View opens a completed Run's results — reachability, paths, run progress, and the cycle time chart. That view is read only. To configure a new Run, use + New Run as above.

  2. The Run opens on the configuration canvas. Each robot is a card, and each card holds the sequences that were exported through the Connector. Expand a card to see its targets in order, beginning and ending with the start target. The number beside a card is how many items it holds, and the number beside a target is how many subtasks it has.

    Resolver run configuration canvas

    The toolbar across the top applies to the whole Run:

    • Undo and Redo step back and forward through your configuration changes.
    • Select Query switches how the Run is presented — operations is the visual editor described here, and Text Editor shows the configuration as text.
    • Bulk Edit applies one change across many targets at once. See Bulk Edit.
    • Offsets Library stores reusable offsets. See Offsets Library.
    • Arrange Canvas re-lays out the cards automatically.
    • The ⚙ icon opens Query Settings, which apply to the whole Run.
    • View Query JSON shows the underlying queries.json for the Run, read only.
    • The badge beside it counts validation issues in the current configuration. It reads No issues when the Run is clean.
    • Start launches the Run.

    Use the +, −, and fit controls in the bottom left to zoom and frame the canvas.

    note

    The API workflow is an advanced alternative that requires understanding of the queries.json file, as there is no UI associated with it. It exists to enable beta features that do not yet have a UI. This procedure follows the standard Build workflow throughout. Please contact your RTR Applications Engineer to use the API workflow.

  3. Select a sequence on the canvas to open its configuration panel. The panel has a Targets tab, which lists every target in the sequence, and an Allocation tab. Expand a target to configure it:

    Build Configuration Page

    Approach Strategy​

    Approach Strategy controls how the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... arrives at a target and leaves it again. It has two settings, Motion and Move Type.

    Move Type​

    Move Type sets whether the Engine plans the move into the target or drives it directly.

    • Planned: The Engine plans a collision-free path to the target, adding vias and interlocks as needed. This is the default.
    • Direct: The robot moves straight through the target's subtask points as exported, without the Engine planning around them.

    Motion​

    Motion controls how the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... interpolates motion paths to and from process points. The following options are available:

    • Joint: The robot moves each joint along the shortest path in joint space to reach the target. This is the fastest interpolation mode and is the default. Joint moves can appear less predictable to humans because the TCP does not follow a straight line, but they maximize cycle time performance.

    • Linear: The robot moves the TCP along a straight line in Cartesian space between waypoints. Linear moves are slower than joint moves but produce predictable, human-readable paths that are easier to touch up during commissioning.

    • Hybrid: Intelligently switches between joint and linear interpolation based on proximity to process points. This option is enabled by a feature flag for the org in Resolver — if you expect to see it and do not, contact RTR Support.

      • What is Hybrid Interpolation?​

        Hybrid interpolation combines high-speed joint motion at far distances with the control and human-preference of linear motion near process points.

        The EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... switches interpolation type based on whether paths are being generated outside or inside a zone around the process point:

        • Outside switch zone: Uses fastest-path Joint interpolation for maximum cycle time performance.
        • Inside switch zone: Switches to Linear interpolation for controlled motion that is easier for humans to touch up during commissioning.

        The distance threshold that determines when to transition between modes is called the Switch Distance.

        note

        Resolver will fall back to joint interpolation on any linear-specified motions that fail to generate due to joint limitations or singularity detection. This is true for all planned linear moves regardless of the hybrid designation.

      • Hybrid Interpolation for Spot Welding​

        Hybrid interpolation behavior depends on the spacing between spot weld points:

        • Non-overlapping Switch Distances: When process points are spaced far enough apart that their switch distance zones do not overlap, the system will use Joint interpolation for the transit segments if it results in a faster path. This allows the robot to take advantage of joint interpolation's speed benefits during longer transit motions between process points.

          Non-overlapping switch distances

        • Overlapping Switch Distances: When process points are close enough that their switch distance bubbles overlap, the interpolation will remain Linear throughout the entire via motion. This ensures consistent, precise motion when process points are in close proximity, maintaining the benefits of linear interpolation across the entire path segment.

          Overlapping switch distances

      • Hybrid Parameters​

        After selecting the Hybrid option, the following parameters can be adjusted:

        Hybrid Approach Strategy parameters

    Configuration Settings​

    Configuration SettingsSettings, per target, to allow Resolver to optimize the robot configuration at that target. Resolver may be able to find a better path solution by allowing TCP and/or robot pose changes at individual... are set per target and allow Resolver to optimize the robot configuration at that target. Resolver may be able to find a better path solution by allowing TCP and/or robot pose changes at individual target locations. Users can specify an axis, relative to the robot's TCP, to optimize the orientation around. This feature is particularly useful for spot welding applications to improve cycle time performance. The EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... typically does take longer to find solutions with this option enabled as it explores a more unconstrained solution space.

    It is the user's responsibility to determine the appropriate rotation axis for target orientation optimization. Typically, this axis is perpendicular to the surface of the part being welded. The following options are available:

    Rotating the target is easier to see than to describe. In the clip below the weld gun stays on the same target while the orientation is rotated about the tool's Z axis — the robot reaches the identical point in space, but reconfigures its arm to do it. That freedom is what the Optimize Config + Rz option hands to the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr..., which then picks the orientation that gives the best cycle time.

    The same target reached at a range of orientations about the tool's Z axis. Only the orientation changes — the target position is fixed.

    Offsets​

    An offset specifies an X, Y, or Z shift relative to the target, with optional rotation and external actuator values. Resolver uses offsets as approach and retreat points when path planning and generating interlocks. Offsets are set per target, so different targets in the same sequence can use different offsets.

    • Add approach offset adds an offset the robot passes through on its way into the target.
    • Add retreat offset adds an offset the robot passes through on its way back out.

    A target can carry more than one approach offset and more than one retreat offset. On Fanuc robots, SD/ED motions appear as offsets, so you can add SD/ED to an operation that already has an approach or retreat.

    Either one opens a dialog where you pick an offset that already exists in the library:

    Add Approach Offset dialog

    Offsets Library​

    Offsets Library in the toolbar holds every offset defined for the Run, so one offset can be reused across many targets. Each entry shows its translation, its rotation, and its type, and can be edited or deleted from the list.

    Offsets Library listing approach and retreat offsets

    Select + Create Offset to define a new one:

    Create Offset panel with the type set to Approach

    • Name and Description identify the offset in the library.
    • Type determines where the offset can be used, and is applied as a Direct Move subtask. This is the field that decides which dropdown the offset appears in, so set it deliberately:
      • Approach offsets appear only under Add approach offset.
      • Retreat offsets appear only under Add retreat offset.
    • Offset sets the translation (X, Y, Z in mm) and rotation (Roll, Pitch, Yaw in degrees) applied relative to the target.
    • Interpolation and Speed control how the robot moves through the offset point.
    • Allowed Target Types restricts the offset to the target types you check — Arcweld, Paint, Drill, Path, Generic, Via, Glue, and Spotweld.

    A Retreat offset is created the same way, with Type set to Retreat:

    Create Offset panel with the type set to Retreat

    note

    An offset only appears in the Add approach offset or Add retreat offset dropdown if its Type matches. An offset created as Approach will not be offered as a retreat offset.

    External Actuator Configuration​

    When the selected offset applies to a target with an external actuator, such as a weld gun, the dialog adds an External Actuator Configuration section where you choose the actuator and its value.

    Actuators belonging to a robot that is not allocated to this operation are flagged Not Allocated. Configuring wp4 on a sequence allocated to R002, for example, offers R002_GUN_j1 normally while R003_GUN_j1 carries the flag. Either choose the actuator that belongs to the allocated robot, or change Allocation first if you genuinely need the other robot's actuator.

    Add Approach Offset dialog with External Actuator Configuration

    Sequence​

    Sequence lists what happens at the target, in the order it happens. A target with subtasks shows the count next to its name, and each entry is numbered so you can see where it falls in the order.

    • Approach Subtask entries are the moves and commands that run on the way into the target.
    • Task entries are the work done at the target itself. On-target commands lists the commands the Connector exported for that task, such as a Wait.

    Task Duration​

    The task time is analogous to a "wait" time at each target. For spot welding, this should be the amount of time a spot weld takes to happen. Users can manually adjust the Task Duration values for any target in the sequence if desired.

    Precedence Constraints​

    Precedence constraints control the order in which operations may run. They are generated by the Connector based on information from the simulation tool, and can be adjusted here.

    • Must Start After: the operations that have to begin before this one can start.
    • Must Complete Before: the operations that cannot finish until this one has completed.

    Remove a constraint with the × on its tag.

    Editing Constraints on the Canvas​

    The same constraints are drawn as links between the targets on the canvas, and can be edited there directly. Select a link and delete it to drop that constraint, then drag from the handle on one node to another to create the order you want.

    Editing precedence constraints on the canvas in three steps

    1. The constraints as exported by the Connector. Every link is a rule the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... has to respect.
    2. The links have been deleted, leaving the targets unconstrained. The small handles on each node are the connection points.
    3. New links drawn to define a different order — here start → wp6 → wp4 → wp5 → start.
    note

    Links can only be drawn between items of the same type — target to target, or operation to operation. A target cannot be linked directly to an operation.

    Allocation​

    Allocation is the second tab of the configuration panel, and is also available in Bulk Edit.

    For any multirobot application where more than one robot can perform the same task, let Resolver know which robots are allowed to be considered for that operation. Resolver will consider all robots selected and evaluate reachability, paths, and interlocks that result in the optimal target-to-robot allocation. Please note that using this feature expands the number of possible solutions and Resolver should be run longer.

    Allocation tab listing each robot and its preset

    The tab lists every robot that could perform the operation, with a Preset for each:

    • Choose a preset, such as R002.TCPF_0, to allow that robot and pin it to that robot configuration.
    • Choose Not allowed to exclude the robot from consideration entirely.
    note

    Robot Allocation does not consider Start and End targets.

  4. Step 3 configures one target at a time. To apply the same change to many targets at once, select Bulk Edit in the toolbar.

    Bulk Edit​

    Bulk Edit Targets panel

    Choose the targets in the Filter tree on the right — check a sequence to take all of its targets, or check them individually — then set the values you want and select Apply to n targets.

    Clear Selection clears only the targets the filter is currently showing. Targets you selected before applying the filter stay selected, so you can narrow the tree, drop a group of targets, and widen it again without losing the rest of your selection. To start over, clear the filter first, then select Clear Selection.

    Bulk Edit covers Optimize Target Order, Motion, Move Type, Configuration Settings, Offsets, and Allocation. Apart from Optimize Target Order, each field is the same as its counterpart in the single-target panel described in Step 3.

    Allocation works a little differently here. Select Choose a robot to add a robot to the change, then pick the preset to apply. Use the delete icon to drop a robot from the change.

    Bulk Edit with a robot allocation staged

    If a value cannot apply to every target you selected, Bulk Edit warns that Some selections will not be applied rather than failing. Expand the message to see what was skipped and why — selecting a whole sequence and setting Allocation, for instance, reports Allocation skipped: 2 targets (Not supported for start/end targets), because Allocation does not apply to Start and End targets.

    note

    Task Duration cannot be set from Bulk Edit. Either set it on each target individually, or set the weld time in Process Simulate before exporting the Study so that it is applied automatically.

    Optimize Target Order​

    The EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... will optimize the sequence by allowing the reordering of targets, except for the first and last targets, which remain fixed as the required start and end points. All other targets in between may be rearranged if the Engine determines that an alternative order improves the cycle time.

    Turn the toggle on, then select Apply to n targets. The canvas redraws the affected sequence with orange links between its targets, showing that the Engine is free to reorder them:

    Sequence on the canvas showing orange links after Optimize Target Order is applied

    note

    The toggle returns to off once the change has been applied. This is expected — the orange links on the canvas, not the toggle, are what tell you the setting is in effect.

  5. Select ⚙ View Query Settings in the top right corner of the page to modify settings.

    Query Settings​

    Query Settings apply to the whole Run rather than to individual targets, and are split across two tabs, Motion Settings and End Conditions.

    Query Settings panel on the Motion Settings tab

    Motion Settings​

    These settings control how the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... generates motion across the workcell.

    Avoid Other Robots' Home Positions​

    This setting ensures that the motion paths generated for one robot do not intersect with the first and last targets ("Home" targets) of other robots. However, if no viable path exists that maintains this rule, results may include rule violations, collisions, or fail to find a solution. Therefore, it is crucial that users verify the Home targets are well outside the motion path of the other robots if enabling this option.

    Enable Smoothing​

    Use this setting to allow generated via points to use a non-zero smoothing value. If enabled, the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... will attempt to use one of the values in the smoothing_tables section of the queries.json file. The Engine will optimize via count and smoothing values to give the best cycle time. The targets in the sequence list (process points) will not have these smoothing values applied to them.

    Automatic Clearances​

    Turn this setting on to let the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... generate clearances as it plans instead of using the clearance rules (near miss values) carried in the query. Collision rules that you defined in your simulation tool still apply.

    The setting is off by default, so a run uses the near miss values exported from your collision sets unless you turn it on. It is labeled BETA in the UI.

    Automatic Clearances setting in Query Settings

    Additional Axis Configuration​

    Configures non-native axes that are driven by a robot — a weld gun, or a rail the robot is mounted on. Every robot that has an additional axis gets its own button; select it to open that axis's settings.

    Additional Axis configuration for a weld gun axis

    • End of stroke buffer (degrees) holds the generated motion away from the physical ends of the axis travel. Segment spacing starts at minimum + buffer and stops at or before maximum - buffer, so the buffer acts as a soft limit on the joint.

      For a weld gun you will usually leave this at 0, because the gun is normally expected to close all the way. It earns its keep on a linear axis, such as a rail under the robot, where you may not want the robot driven to the extreme of its travel in either direction.

    • Allowed values restricts the axis to a discrete set of positions, entered as a comma-separated list.

      Left unset, the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... picks whatever value suits each via position, so a program can end up using many slightly different openings — 10, 11, 12, 23, and so on. Listing allowed values snaps the axis to the set you choose: list 10, 20, 30 and, where 10 is too small for a point, the Engine uses 20 rather than 11. The result is a generated program that uses a few consistent positions instead of dozens of near-identical ones.

      Clear Allow Resolver to optimize additional axis values in generated path to stop the Engine choosing values for this axis.

    • Assigned values lists external axis values already present in the exported Study, which will also be used.

    Select Apply to save the axis configuration.

    End Conditions​

    These settings determine when a Run stops.

    Convergence​

    These two settings allow a user to configure when the EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... has reached convergence on a solution. The values should allow the Engine to attempt to improve the current solution for an adequate amount of time without running indefinitely. Essentially, there is a "timer" that starts when the run starts. The behavior of this timer can be adjusted with the following settings.

    • Improvement Threshold: The minimum improvement in cycle time required to be considered making progress. If this threshold is exceeded, the "timer" is reset to zero and starts again.
    • Time Threshold: The max limit for the "timer". Once this value is reached, the run is considered to have converged to a solution and the run will automatically complete.
    Max Elapsed Time​
    • Time Threshold: A maximum amount of time the run can last regardless of the convergence timer.

    All three are entered as a duration in HH:MM:SS rather than a plain number of seconds.

  6. After configuration is complete, select the Start button in the upper right corner. At this point, a license will be checked out and a server will be provisioned in the cloud.