<s>
RoboLogix	B-Application
is	O
a	O
robotics	B-Application
simulator	I-Application
which	O
uses	O
a	O
physics	O
engine	O
to	O
emulate	B-Application
robotics	O
applications	O
.	O
</s>
<s>
The	O
advantages	O
of	O
using	O
robotics	B-Application
simulation	I-Application
tools	O
such	O
as	O
RoboLogix	B-Application
are	O
that	O
they	O
save	O
time	O
in	O
the	O
design	O
of	O
robotics	O
applications	O
and	O
they	O
can	O
also	O
increase	O
the	O
level	O
of	O
safety	O
associated	O
with	O
robotic	O
equipment	O
since	O
various	O
"	O
what	O
if	O
"	O
scenarios	O
can	O
be	O
tried	O
and	O
tested	O
before	O
the	O
system	O
is	O
activated	O
.	O
</s>
<s>
RoboLogix	B-Application
provides	O
a	O
platform	O
to	O
teach	O
,	O
test	O
,	O
run	O
,	O
and	O
debug	B-Device
programs	O
that	O
have	O
been	O
written	O
using	O
a	O
five-axis	O
industrial	O
robot	O
in	O
a	O
range	O
of	O
applications	O
and	O
functions	O
.	O
</s>
<s>
RoboLogix	B-Application
was	O
developed	O
by	O
Colin	O
Simpson	O
and	O
John	O
(	O
Bud	O
)	O
Skinner	O
.	O
</s>
<s>
Some	O
institutions	O
,	O
such	O
as	O
George	O
Brown	O
College	O
use	O
RoboLogix	B-Application
as	O
part	O
of	O
an	O
online	O
robotics	O
distance	O
education	O
program	O
.	O
</s>
<s>
The	O
simulation	B-Application
software	I-Application
allows	O
for	O
verification	O
of	O
the	O
robot	O
's	O
reaching	O
ability	O
,	O
travel	O
ranges	O
and	O
collisions	O
.	O
</s>
<s>
This	O
type	O
of	O
simulation	B-Application
software	I-Application
provides	O
an	O
increased	O
level	O
of	O
reliability	O
in	O
the	O
planning	O
process	O
and	O
program	O
development	O
as	O
well	O
as	O
reducing	O
the	O
overall	O
completion/commissioning	O
time	O
.	O
</s>
<s>
The	O
ability	O
to	O
preview	O
the	O
behavior	O
of	O
a	O
robotic	O
system	O
in	O
a	O
virtual	B-Application
world	I-Application
allows	O
for	O
a	O
variety	O
of	O
mechanisms	O
,	O
devices	O
,	O
configurations	O
and	O
controllers	O
to	O
be	O
tried	O
and	O
tested	O
before	O
being	O
applied	O
to	O
a	O
"	O
real	O
world	O
"	O
system	O
.	O
</s>
<s>
RoboLogix	B-Application
has	O
the	O
capacity	O
of	O
real-time	O
simulation	O
of	O
the	O
motion	O
of	O
an	O
industrial	O
robot	O
using	O
both	O
geometric	B-Application
modeling	I-Application
and	O
kinematics	O
modeling	O
.	O
</s>
<s>
RoboLogix	B-Application
enables	O
programmers	B-Application
to	O
write	O
their	O
own	O
robot	O
programs	O
and	O
use	O
sensors	B-Application
such	O
as	O
video	O
cameras	O
,	O
which	O
are	O
used	O
for	O
obtaining	O
the	O
desired	O
position	O
of	O
the	O
robot	O
end	O
effector	O
.	O
</s>
<s>
In	O
addition	O
,	O
a	O
teach	O
pendant	O
control	B-Application
panel	I-Application
is	O
included	O
with	O
the	O
simulator	O
that	O
allows	O
the	O
user	O
to	O
command	O
the	O
robot	O
to	O
pick	O
up	O
a	O
tracked	O
object	O
and	O
return	O
it	O
to	O
a	O
home	O
location	O
through	O
jogged	O
commands	O
or	O
pre-programmed	O
positions	O
.	O
</s>
<s>
The	O
RoboLogix	B-Application
control	B-Application
panel	I-Application
consists	O
of	O
both	O
robot	O
control	O
functions	O
as	O
well	O
as	O
environment	O
control	O
functions	O
such	O
as	O
conveyor	O
system	O
controls	O
,	O
on-off	O
hard-wired	O
control	O
,	O
etc	O
.	O
</s>
<s>
The	O
control	B-Application
panel	I-Application
allows	O
the	O
user	O
to	O
command	O
the	O
robot	O
to	O
pick	O
up	O
a	O
tracked	O
object	O
and	O
return	O
it	O
to	O
a	O
home	O
location	O
through	O
jogged	O
commands	O
or	O
pre-programmed	O
positions	O
.	O
</s>
<s>
There	O
are	O
several	O
command	O
instructions	O
on	O
the	O
control	B-Application
panel	I-Application
such	O
as	O
Reset	O
,	O
Home	O
,	O
Setup	O
and	O
Zero	O
which	O
are	O
used	O
to	O
automatically	O
set	O
the	O
robot	O
to	O
a	O
specific	O
position	O
for	O
calibration	B-General_Concept
or	O
realignment	O
.	O
</s>
<s>
RoboLogix	B-Application
provides	O
12	O
viewpoints	B-Application
,	O
or	O
camera	O
angles	O
for	O
a	O
given	O
robot	O
work	O
envelope	O
.	O
</s>
<s>
These	O
viewpoints	B-Application
are	O
accessed	O
by	O
the	O
twelve	O
CAM	O
keys	O
and	O
allow	O
for	O
the	O
viewing	O
from	O
a	O
variety	O
of	O
angles	O
and	O
perspectives	B-Architecture
.	O
</s>
<s>
By	O
using	O
these	O
camera	O
viewpoints	B-Application
,	O
the	O
user	O
can	O
move	O
around	O
in	O
a	O
3D	O
animated	O
environment	O
in	O
much	O
the	O
same	O
way	O
they	O
would	O
in	O
the	O
real-world	O
.	O
</s>
<s>
Like	O
most	O
robot	O
programming	O
languages	O
,	O
RoboLogix	B-Application
programs	O
consist	O
of	O
data	O
objects	O
and	O
program	O
flow	O
.	O
</s>
<s>
The	O
data	O
objects	O
reside	O
in	O
registers	O
and	O
the	O
program	O
flow	O
represents	O
the	O
list	O
of	O
instructions	O
,	O
or	O
instruction	B-General_Concept
set	I-General_Concept
,	O
that	O
is	O
used	O
to	O
program	O
the	O
robot	O
.	O
</s>
<s>
RoboLogix	B-Application
program	O
language	O
is	O
a	O
type	O
of	O
scripting	B-Language
language	I-Language
that	O
is	O
used	O
to	O
control	O
the	O
software	B-Application
application	I-Application
.	O
</s>
<s>
Programming	O
languages	O
are	O
generally	O
designed	O
for	O
building	O
data	B-General_Concept
structures	I-General_Concept
and	O
algorithms	O
from	O
scratch	O
,	O
while	O
scripting	B-Language
languages	I-Language
are	O
intended	O
more	O
for	O
connecting	O
,	O
or	O
gluing	O
,	O
components	O
and	O
instructions	O
together	O
.	O
</s>
<s>
Consequently	O
,	O
the	O
RoboLogix	B-Application
instruction	B-General_Concept
set	I-General_Concept
is	O
a	O
streamlined	O
list	O
of	O
program	O
commands	O
that	O
are	O
used	O
to	O
simplify	O
the	O
programming	O
process	O
and	O
provide	O
rapid	O
application	O
development	O
.	O
</s>
<s>
The	O
RoboLogix	B-Application
instruction	B-General_Concept
set	I-General_Concept
contains	O
16	O
commands	O
,	O
which	O
are	O
usually	O
written	O
as	O
a	O
program	O
on	O
a	O
line-by-line	O
basis	O
.	O
</s>
<s>
One	O
of	O
the	O
more	O
popular	O
commands	O
in	O
the	O
instruction	B-General_Concept
set	I-General_Concept
is	O
the	O
IF	O
instruction	O
,	O
which	O
compares	O
numerical	O
values	O
located	O
in	O
two	O
registers	O
.	O
</s>
<s>
All	O
instruction	B-General_Concept
set	I-General_Concept
information	O
is	O
stored	O
in	O
registers	O
,	O
which	O
are	O
data	O
locations	O
capable	O
of	O
holding	O
variable	O
numeric	O
values	O
.	O
</s>
<s>
There	O
are	O
two	O
main	O
types	O
of	O
registers	O
used	O
by	O
RoboLogix	B-Application
:	O
position	O
registers	O
and	O
variable	O
registers	O
.	O
</s>
<s>
Position	O
registers	O
contain	O
both	O
the	O
linear	O
and	O
angular	O
data	B-Application
point	I-Application
coordinates	O
and	O
include	O
axis	O
(	O
joint	O
)	O
information	O
for	O
A1	O
,	O
A2	O
,	O
A3	O
,	O
etc	O
.	O
</s>
<s>
There	O
are	O
also	O
32	O
variable	O
registers	O
which	O
can	O
be	O
used	O
for	O
holding	O
instruction	B-General_Concept
set	I-General_Concept
data	O
such	O
as	O
position	O
comparisons	O
and	O
time-delay	O
information	O
.	O
</s>
<s>
In	O
addition	O
to	O
position	O
registers	O
and	O
variable	O
registers	O
,	O
some	O
robot	B-Application
software	I-Application
programs	O
also	O
have	O
palletizing	O
registers	O
,	O
which	O
are	O
used	O
to	O
manage	O
the	O
position	O
of	O
the	O
stack	O
point	O
in	O
palletizing	O
applications	O
.	O
</s>
<s>
A	O
RoboLogix	B-Application
palletizing	O
routine	O
consists	O
of	O
five	O
program	O
instructions	O
,	O
or	O
lines	O
.	O
</s>
