There are two ways to add a robot to SA.
To load an existing SA Robot use Analysis>SA Machine- Robots and Machines>Add Machine>Load .SAMachine File (kinematics and graphics).
To create a new Robot use Analysis>SA Machine - Robots and Machines>Add Machine> Add Serial Robot>Using Kinematic Definition File.
Once a robot is added to the tree it is displayed under the Robots and Machines category.
This category contains the specific Robot or Machine with the respective components and calibrations.
Show. Show/Hide all components
Show Link Frames. Show/Hide Link Frames
Properties. Displays properties
Teach Pendant. Displays teach pendant dialog in which user can control robot via several different methods.
Edit Machine to World Transform. Displays machine base transform dialog allowing for the machine to be transformed with respect to the current frame.
Command Controller Motion. Sends move commands to ma chine based on controller kinematics or SA kinematics.
Simulate Motion. Simulates move commands to machine based on SA kinematics.
Delete. Delete machine from SA TreeBar.
Make Frame at last end-effector update. Creates a SA coordinate frame at the last end-effector position.
Add Graphical Entity. Adds a new component.
Save to File. Saves current machine to .SAMachine file.
The Components sub-category contains each link of the robot with its respective graphical representations
Properties. Displays the Manipulator Segment Properties - Denavit-Hartenberg Dialog. Here the Segment Transform and Joint Variables can be modified.
Set Kinematic Control Frame. Select the Link Frame for the component.
Delete. Deletes the selected component.
Add CAD to Component. Select surfaces to attach to component at current location.
Make Frame at current location. Creates a SA coordinate frame at the current component location.
Calibration Interface. Displays the Calibration Interface for the respective calibration set.
Trap Measurements from an Instrument. Allows incoming measurements to be paired with current joint sets.
Stop Trapping Measurements. Stops the trapping of incoming measurements.
Delete Calibration. Deletes selected calibration.
Import Joint Poses and match to measurements. Imports Joint Poses and pairs with selected measurements. Often used when a live interface to a Robot is unavailable.
Export Joint Poses. Exports the Joint Poses from the selected calibration set.