4. Layout Creation

4.1. Catalog Panel

Open the Catalog panel
Navigate through the available categories
Select items and modify properties such as name or size
You can add components such as robot stands, conveyors, pallets, vacuum tools, accessories, end-of-arm tools, and workpieces

4.2. Work Cell Accessories

4.2.1. Robot Stand

The robot stand enables users to adjust the robot’s Z-axis position in the scene with a configurable height.

Properties

Position in 3D Space
Configurable height

4.2.2. Conveyor

The conveyor has three different variants (small, medium, and large). It features predefined behavior where the belt runs by default and stops when the stopConveyor action is triggered by I/O. In Connections, you can find detailed information on how to configure connections and trigger the different predefined actions for various conveyor elements.

Properties

Position in 3D Space
Conveyor size
Connections:
- stopConveyor (input): Signal to stop the conveyor belt

4.2.3. Robots

All released robots are available in the dropdown menu. The robot’s characteristics are displayed in the description. The robot can be positioned anywhere in the scene. Only one moving robot is supported in Studio, but users can add additional robots for layout purposes.

Properties

Position in 3D Space
Robot type

Add Robots for design purposes in the catalog

4.2.4. Sensor

The sensor is a fully configurable surface that can represent a part sensor or curtain, as its dimensions can be adjusted. When a workpiece passes by the sensor, the partDetected connection will be activated. This can be used for detecting parts and creating other automation sequences.

Properties

Dimension configuration
Position in the scene
Connections:
- partDetected (output): Signal to inform that there is a collision with the sensor

4.2.5. Lathe

The lathe is a component that simulates a CNC machine. It allows users to simulate CNC machine operations. The door automatically opens and closes, the chuck can be operated, and the operation can be started.

Properties

Position in 3D Space
Connections:
- SetLatheOn (input): Signal to start CNC operation
- SetChuckClosed (input): Signal to close the chuck
- SetDoorClosed (input): Signal to close the door
- IsLatheOn (output): Signal to inform that the lathe is working

4.2.6. Control Box

The control box represents the geometry of UR control boxes used to control different robots.

Properties

Position in 3D Space

4.2.7. Geometry Box

To quickly emulate objects in the scene, users can generate different geometries to mimic those objects in future cells. This component creates a box.

Properties

Geometry color
Dimensions
Position in 3D Space

4.2.8. Geometry Cylinder

To quickly emulate objects in the scene, users can generate different geometries to mimic those objects in future cells. This component creates a cylinder.

Properties

Geometry color
Dimensions
Position in 3D Space

4.2.9. Geometry Sphere

To quickly emulate objects in the scene, users can generate different geometries to mimic those objects in future cells. This component creates a sphere.

Properties

Geometry color
Dimensions
Position in 3D Space

4.2.10. Table

Users can create a fully configurable table.

Properties

Dimensions
Position in 3D Space

4.2.11. EU Pallet

Users can add an EU pallet and configure it with a stack height, which optimizes the pallet height so the reachability function can be adjusted.

Properties

Stack Height
Position in 3D Space

4.2.12. US Pallet

Users can add a US pallet and configure it with a stack height, which optimizes the pallet height so the reachability function can be adjusted.

Properties

Stack Height
Position in 3D Space

4.3. Zones

4.3.1. Source

The Source creates a copy of a workpiece selected in the Source Object that can be removed later from the scene using the Sink component.

Properties

Position in 3D Space
Connections:
- generatePart (input): Signal to generate a copy of the selected workpiece

Visualization and properties of a Source

4.3.2. Sink

The Sink removes a copy of a workpiece created in the scene by the Source component when the workpiece and the sink collide.

Properties

Position in 3D Space
Dimensions

4.4. End of Arm

All tools available in Studio exhibit similar behavior. They are positioned in space attached to the end of arm. Users can displace the tool by unchecking the Locked checkbox. This is useful when the object is slightly displaced from its origin. By default, various connections are established to the ur-tool I/O board from the robot.

In the visual representation, a yellow area indicates the gripper zones. Workpieces attach to these gripper zones when the appropriate signal (such as gripperClose) is activated.

When a gripper is imported, its Tool Center Point (TCP) is automatically created in the End Effectors application.

4.4.1. Gripper

Properties

Position in 3D Space
Connections:
- gripperOpen (input): Signal to open the gripper
- gripperClose (input): Signal to close the gripper

4.4.2. 3 Finger Gripper

Properties

Position in 3D Space
Connections:
- gripperOpen (input): Signal to open the gripper
- gripperClose (input): Signal to close the gripper

TCP created in End Effector application

4.4.3. Vacuum Gripper

Properties

Position in 3D Space
Connections:
- vacuumOn (input): Signal to generate vacuum

4.4.4. Dual Mount

To use Dual Mount, users must first import two different tools in the scene.
Then, go to the catalog and add Dual Mount. In the dual mount configuration, select the two tools.

Visualization of Dual Mount configuration.

The behavior of the tools will be implemented as explained in the previous section, tool by tool.

User can create a Dual Mount configuration

When both tools are imported, both TCPs are available in the End Effectors application.

Both TCPs now appear in the End Effectors application

4.5. Workpiece

Users can load different workpieces. A workpiece is what the robot picks and drops — the part that the robot handles, welds, palletizes, etc.
By default, users can load different geometries such as blocks, boxes, and cylinders.
These workpieces have the same behaviors as geometry work cell accessories, but they behave as workpieces with physics affecting them.