10.

Simulation

The names and values of the signal output/input from/to the robot are displayed on the I/O set status
dialog box.

Now, play the robot and observe whether the waiting signal is done properly.

10-7
 HRSpace3

10.3. Collision Detection

This is a function that checks whether there’re any collisions among robots, tools, works, and JIG. First
you should create a collision detection model in workspace. The position in a hierarchical structure
doesn’t matter.

Open popup menu of a collision detection model and select Collision Detection Properties.

For setting the properties of collision detection, the condition have to be ‘Off’.

Add rows to Detection List by using button, press button, click nodes in tree window, and
enter T path of a model that you want to check.

10-8
 10.Simulation

Use buttons to adjust the order of items.

buttons are to delete selected items and delete all the items, respectively.

Collision detection lowers the simulation speed so it’s good to enter models only that are needed.

In a model that is entered, there may be sets that don’t need collision detection. In the upper picture,
collision detection is not required among air_torch (the tool mounted on the robot), arm_pipe (i.e. a
robot’s upper arm), and wrist_body (i.e. wrist). (They should not be checked because they are always
stuck together.) If we assign same group number to this model, collision detection won’t be done for this
model. Use any number bigger than or equal to 0 for the group number.
The total number of items should not be more than 100 and there is no limitation in the total number of
groups.

10-9
 HRSpace3

Select when you want to detect collisions in Condition.

OFF Do not detect collisions.

Simulation Detect collisions only when Step GO or playback simulation.

Always detect collisions such as when do JOG or layout

Always
models.

Determine how often detect collisions. Detection requires lots of time and
makes the simulation very slow or even makes it difficult to run the simulation
when the scale of CAD model is large or there’re many items to be detected.
In this case, it gets faster if you increase a detection interval. However this
may cause inaccurate results because detection is not done every time unit.

Some margin of collision detection. For example, if you set 3mm, not only the
case the models intersect each other, but also the case the models have the
gap less then 3mm is regarded as collision.
Please note that as you set this value bigger, the simulation gets slower,
drastically.

When you select the condition as ‘Simulation’ or ‘Always’, it takes some delay time for registering the
models in collision detection list.

10-10
 10.Simulation

Options as below are how to indicate collisions when they happen.

It reports T path of models whose collisions are detected in Result window.

output to
Result
window

stop If checked, simulation is stopped when collision happens. If not checked,

simulation simulation keeps going even though there’re collisions.

It displays models whose collisions are detected in red.

color

sound Sound effect is generated when collision happens.

If there’re collisions, the collision status by model is displayed in the col of Detection List. A number
other than ‘-‘ in ‘col’ represents there’re collisions with the model in that row number. In the picture
above shows a model in row 0 collides with a model in row 3.

Collision detection lowers the speed of simulation or the operation because it does lots of
calculations.
Deleting parts (holes in bolts and internal structures) that are not needed for simulation in
Note
CAD data helps to improve the operation. Import huge CAD files after simplifying it if
possible.
Increase the detection interval properly if the operation of collision detection is too slow.

10-11
 11.Teach Method and Coord.Sys Properties

11. Teach Method and Coord.Sys Properties

11
Teach Method
and
Coord.Sys.
Properties

11-1
 HRSpace3

11.1. Traverse axis

You can configure and simulate the traverse axis of the robot.
First, configure the rail, slider and robot as shown below. Rail is just a model but the slider is a moving
part of the robot controller and must be made as a link.

Set the properties of each rail, slider and robot as shown in the below table and attach the tool to the
robot.

Location Shape parameter

Name
X Y Z X Y Z

Rail 0 0 0 5000 500 100

Base coordinate
0 0 150 N.A.
system

Slider 0 0 100 600 600 50

Robot 0 0 50 N.A.

11-2
 11.Teach Method and Coord.Sys Properties

Base and robot coordinate system is quite matched only except X value (when moving on the traverse
axis), so we aligned the origins of base coordinate system and robot coordinate system (when the
traverse axis value is 0).

Because the origin coordinate of the robot based on the origin of the rail is (0, 0, 150), the location of
the model properties of the base coordinate must also be (0, 0, 150). ( (Rail height 100mm) + (Slider
height 50mm) = 150mm )

11-3
 HRSpace3

Specify the additional axis 1 of the robot as the traverse axis. Open the robot properties window.

 Set the total number of axes to 7 and number of additional axes to 1.

 Click on the A1 (Additional axis 1) button and click on the slider from the tree window.
 Click on the base button and click on the base coordinate system in the tree window.

Now, click on OK to close the robot properties window.

11-4
 11.Teach Method and Coord.Sys Properties

It displays a message that says you need to initialize VRC because axes are changed. Click ‘OK’
button.

A message as below is displayed and virtual TeachPendant is automatically open. Go to the setting
screen in the message and set additional axis settings of 7th axis. As you can see the picture as below,
set Axis spec to Base, set ‘Axis struc’ to X, adjust ‘Softlimit’ and ‘Acc/Dec param’ appropriately, and
press [F7: Complete] key.

Save the document and reboot VRC to apply the settings.

11-5
 HRSpace3

In order to apply the setting, save the document and reboot the VRC.

Open Link Properties dialog box of a slider. Since the robot should move to the left and right along with
X axis, set Axis index to X and set the range of the axis.

11-6
 11.Teach Method and Coord.Sys Properties

Now let’s create work. First, create job with mini T/P.

Set the coordinate system on Teach tab to Base. Steps that are the robot’s coordinate system move
along with the movement of the robot’s traverse axis.

Teach by using Record button while moving the traverse axis shown as below.

Confirm the moves by executing the simulation when Teach is completed.

11-7
 HRSpace3

11.2. User coordinate system

HRSpace3 supports maximum of 10 user coordinate systems. The advantage of using this function is
that because you can specify a job’s RefPos as the target work not as the robot, so the job will move
with the target work when the work is moved.

For example, let’s try to teach the steps in the user coordinate for the 4 corner surfaces of the
rectangular panel as shown below.

First, create the user coordinate systems as the child model of the panel and set the name to
‘crd_panel’.

11-8
 11.Teach Method and Coord.Sys Properties

The coordinate will be created at the origin location of the panel as shown below. If needed, edit the
model properties of the coordinate to adjust the location/direction of the origin.

Open mini T/P of the robot and create new job. Tree window looks like as below.

Now open Robot Properties and select Coordinate System tab. Click U1 button in User coordinate
systems and click ‘crd-panel’ in tree window.

Choose one from two options as below to connect with a virtual controller.

The changes in user coordinate systems in VRC are immediately applied

to the virtual controller.
Apply from VRC This is useful when you import onsite robots’ controller files and observe
them on a 3-D screen or utilize virtual TeachPendant to practice
operations.

The changes in user coordinate systems on HRSPace3 are immediately

applied to the virtual controller.
Apply to VRC
This is useful when you create robot controller files by designing work
cells on a 3-D screen.

Click ‘OK’ button to close the dialog box.

11-9
 HRSpace3

Teach steps on the surface of a panel by using Step Creation/Modification dialog box. At this time,
dropdown list box on Teach tab – Step group for the coordinate system should be set to user1.

You may recognize coordinates displayed in Step Creation/Modification dialog box is user coordinate
system, not robot coordinate system.

11-10
 11.Teach Method and Coord.Sys Properties

Run simulation when Teach is completed. If the result is normal, change the location/direction of the
panel, press ‘Apply to VRC’ button in Coord. sys. Tab of Robot Properties dialog box, and run the
simulation again. You may notice that tool end is moved to the same panel surface location before the
change.

Virtual Controller may have 10 user coordinate systems at the most by setting control parameters.
Select ‘Apply from VRC’ radio button if you need to utilize this information in HRSpace3. It creates
coordinate system models as children models to the robot model and automatically set coordinate
system properties of the robot model.
Later, when the values in user coordinate system are dynamically changed in a virtual controller, this is
also applied to HRSpace3.

11-11
 HRSpace3

Later, when the values in user coordinate system are dynamically changed in a virtual controller, this is
also applied to HRSpace3.

11-12
 11.Teach Method and Coord.Sys Properties

11.3. Stationary tool

Stationary tool is the tool installed not on robot flange but at external position. The robot does its work
by bringing the workpiece into the stationary tool.
(For detailed explanation, please refer

to Hi5 Controller Function Manual - Stationary Tool Interpolation.)

In job program, the stationary tool number used as linear/circular interpolation reference is specified
with SELPTNO command. On the other hand, the robot tool number which is reference of step record
position is specified with MOVE command’s T= parameter.

In this example, let’s use stationary tool #1. And we won’t define robot tool data and just use robot tool
#0. Also, make the stationary tool #1’s position coincide with user coordinate system #1(U1)’s origin. In
stationary tool range in job, we will teach each step with user coordinate system #1. (In actual Hi5
controller’s stationary tool function, user coordinate teaching is not necessary. But, in HRSpace3, it has
to be defined for displaying the trajectory on workpiece.)

Now, the job program should be taught as below form.

S1 MOVE P,S=50%,A=0,T=0 (hidden pose)R ‘approaching position
SELPTNO=1 ‘stationary tool number
S2 MOVE SL,S=100mm/s,A=0,T=0 (hidden pose)U1
S3 MOVE SL,S=100mm/s,A=0,T=0 (hidden pose)U1
…

First, create the user coordinate system U1 at stationary tool position as a child of robot.

11-13
 HRSpace3

Set the RefPos of U1 as st_tool1, and adjust the origin to be coincided with stationary tool end. Set this
coordinate system as the robot’s user coordinate system #1.

11-14
 11.Teach Method and Coord.Sys Properties

You don’t have to define a robot tool. If there is no tcp, tap is regarded as robot tool end.

Open the robot’s pop-up menu, and select stationary tool properties. Specify U1’s TPath as the
stationary tool #1.

11-15
 HRSpace3

In jog dialog box, there are Cartbesian/Tool/Stationary radio buttons selecting jog reference, and a
drop-down list box selecting tool number. If Cartesian or Tool radio button is selected, tool number list
box is used to display/select robot tool number, and when you change the number, the tool number on
Teach tab – Step group is also changed. If Stationary radio button is selected, the tool number list box
is used to display/select stationary tool number.

So, open the jog dialog box, and first while Cartesian or Tool radio button is selected, select the tool
number as 0. And then, while Stationary radio button is selected, select the tool number as 1.
In stationary tool status, if you manipulate the TCP’s edit boxes (with e.g. mouse wheel), it is jogged
based on stationary tool #1’s coordinate system.
On Teach tab, select coordinate system as User1, and select robot tool number as 0(T=0). When you
record with linear or circular interpolation, select ST-Linear or ST-Circular.

11-16
 11.Teach Method and Coord.Sys Properties

Below figure is an example that the letters WK was inscribed on a workpiece.

If you change the setting of user coordinate system or stationary

tool, the trajectory supposed to be on workpiece might be at wrong
position. In this case, save the project, and try the Update from
Folder on the JOB.

11-17
 12.Application Function

12. Application Function

12
Application
Function

12-1
 HRSpace3

12.1. SPOT welding application function

Hi5 controller function manual –Please refer to spot welding section and understand how to use spot
welding function first.

12.1.1. Enter SPOT commands

In Hi5 controller, SPOT commands are used for both Air gun and Servo Gun welding.

It’s convenient if you use Ribbon menu – Teach tab – Spot weld group to enter SPOT commands.
When you press REC button, it only records MOVE command if the check box is OFF (via point) and it
records MOVE with SPOT command if the check box is ON (weld point). Parameters are automatically
entered according to the settings of Gun number (GN=), condition (CN=), and sequence (SQ=) in Spot
weld group when SPOT commands are saved.

Let GUN button of a keypad ON and press REC button when you record it with virtual TeachPendant.
(Please refer to SPOT welding function manual for the details such as how to modify SPOT command
and change conditions.)

12-2
 12.Application Function

12.1.2. Perform welding – Air gun

The operation of Air gun is executed by script file. Script get Weld, welding instruction signal, show
the pressing movement of moving tip, and produce Complete command.

spot_airgun.vbs For C gun. Control Air gun with signal.

x_gun.vbs For X gun. Control Air gun with signal and control X gun link

These scripts need attribute settings as below.

Name Description

Value of moving tip axis when the

Mx0
value of Mx is 0
Value of moving tip axis when the
Mx1
value of Mx is 1
Value of moving tip axis when
Closed
pressed.
Unit for the movement of moving tip
UnitMove
(Bigger number means higher speed)

As you can see in a picture as below, the robot produces W1 assigned output signal and is on standby.
(Assigned output and assigned input are set in System/Application parameter/SPOT welding menu by
using Virtual TeachPendant.)

12-3
 HRSpace3

Set I/O connection to plc model as you can see an example as below since this signal should be
entered to moving tip as Weld signal. (Set path appropriately to fit workspace configuration.)

Output Input

/robot0/DO23 /robot0/tap/g_gun/tip/Weld

spot_airgun.vbs, scripts of moving tip, do welding operation when it receives Weld signal, and then
produces Complete signal. Set I/O connection to plc model as you can see an example as below since
this signal should be entered to the robot as WI1 assigned input signal.

Output Input

/robot0/tap/g_gun/tip/Complete /robot0/X22

(In case that embedded PLC is ON, X22 should be connected to DI22 via ladder.)

The VRC that was waiting moves to the next command when it receives WI1 signal. This I/O
connection is the same as the operation method of Air gun in actual processes.

12.1.3. Perform welding – Servo Gun

Unlike Air gun, Servo Gun doesn’t need scripts and only needs to set it as additional axes appropriately
in real situation via virtual TeachPendant. For the 1st function, steps that have SPOT GN=1.. command
are recognized as welding points. The virtual controller executes MOVE command and controls
additional axes that are set as guns and moving tip moves the same trajectory in real situation
according to this.
* Scripts are used when moving tip is not simple such as X gun.

12-4
 12.Application Function

12.1.4. Large stroke/Small stroke and manual pressing – Air gun

For steps that are via points and not welding points, it needs a function that sets it to small stroke or
large stroke.
In case of Air gun, set it with X1~X4 output option in MOVE command. For example, a virtual controller
produces X1 assigned output signal if there’s X1 output option. Connect this signal to Mx signal that
input to moving tip as below by using I/O connection model.

Output Input

/robot0/DO25 /robot0/tap/g_gun/tip/Mx

Scripts of moving tip execute small stroke or large stroke according to the value of Mx0 and Mx1 in
attribute settings when Mx input signal is changed.

In Hi5 virtual T/P, manual open/close is executed because X1~X4 assigned output signal manually
toggles between 0 and 1 when you click user key MX while pressing [Shift] key.
In addition to this, when you press [Shift] and [GUN] key together, manual pressing operation is
executed because W1 ~ W4 signals are produced.

12-5
 HRSpace3

12.1.5. large stroke/small stroke and manual pressing -Servo gun

In case of servo gun, X1~X4 output option is ignored and moving tip is open by a virtual controller
according to recorded location of gun additional axis.
In Hi5 virtual T/P, manual open/close is executed when you click “svgun man open/close” button in user
key and [Shift] key together.

In addition to this, manual pressing operation is executed when you click “svgun man press” button and
[Shift] key together.

12-6
 12.Application Function

12.2. Painting application function

 Please understand how to use the Hi5a controller's painting function first.
 Please understand how to use the ‘Paint Gun’(extended model) first.
 12.2.2 ‘Brush properties’ ~ 12.2.4 ‘Connecting wire on / off’ is activated when using the ‘Paint
Gun’ (extended model).

12.2.1. Enter SELBRUSH commands

In Hi5 controller, PAINT and SELBRUSH commands are used for painting function.

Please refer to the Hi5a Painting Function Manual for the parameters and usage of the commands.

There are three input methods when entering the SELBRUSH commands in HRSpace.
1. Entering the commands using the mini teach pendant
- Please refer to 8.2 “mini Teach Pendant”.
2. Entering the commands using VRC.
- Please refer to Hi5a controller instruction.
3. Add triggers in the ‘WorkSpace’
- Please refer to 9.1.4 “Add triggers in the ‘WorkSpace’”.

12-7
 HRSpace3

12.2.2. Brush Property

Click Teach  Paint  Brush Property on the ribbon menu, and then will open the Brush Property
dialog box.

The brush properties match the brush number and the color of the STEP connection line.

이 름 설 명

BrushNo. The brush number

색상 Set the color of brush numbers

Add Add new brush

Delete Delete selected brush

OK After saving the current state, close the brush setting dialog

Cancel After Cancel the save, exit the Brush Settings window

12-8
 12.Application Function

As shown in the photo below, the path of the SELBRUSH command is displayed in the color of the
brush number entered.

12-9
 HRSpace3

12.2.3. Job Tabel Editor

Click Teach  Paint  Table Editor on the ribbon menu, and then will open the Table Editor dialog box.

The ‘Job Table Editor’ displays STEP's X, Y, and Z coordinate values and RX, RY, and RZ rotation
values, trigger's X, Y, and Z coordinate values, and RX, RY, and RZ rotation values, and can modify the
position of trigger.

Select the robot you wish to display in the ‘Job Table Editor’.

12-10
 12.Application Function

Select the Job.

You can see the STEP and trigger values displayed as shown below.

12-11
 HRSpace3

이 름 설 명

Label The name of STEP or trigger

Axis Editable axis

X X value of the corresponding STEP or trigger coordinates

Y Y value of the corresponding STEP or trigger coordinates

Z Z value of the corresponding STEP or trigger coordinates

RX RX value of the corresponding STEP or trigger coordinates

RY RY value of the corresponding STEP or trigger coordinates

RZ RZ value of the corresponding STEP or trigger coordinates

Refer to the second column (Axis), and modify the coordinates of the trigger.

12-12
 12.Application Function

12.2.4. Turn ON/OFF the connection line

Click Teach  Paint  Turn on/off connection line on the ribbon menu, and then you can turn on / off
the connection line function / off function.

The color of the connecting line is displayed differently depending on the brush color.
Please refer to 12.2.2 ‘Setting Brush Properties’.

The JOB path is displayed as shown below depending on the on / off the connection line status.

12-13
 13.Misc. Function

13. Misc. Function

13
Misc.
Functions

13-1
 HRSpace3

13.1. Light/Shadow/Material Function

13.1.1. Light
Although Light, Shadow, Material function does not affect the simulation, it helps to make the 3D scene
more realistic.
When there is no light model in the workspace, the camera light is applied as a default. Because a light
is mounted on the camera, light is thrown to the direction of the user’s view.

user’s view

Click right button on the node on which you create a light, and select New Model – Light.
(Once you create a light model, the camera light is eliminated.)

13-2
 13.Misc. Function

A light model is created at a little high position of 3D space. Rename it properly in tree window.

You can open the light properties dialog box, and select the type among directional and point.

Type Feature
The light is thrown to the direction (RX, RY, RZ) of the light model. This light
is applied on the whole 3D space in parallel like the sun’s ray coming from far
away.

The position (X, Y, Z) of the light model does not affect the direction or
brightness of the light.
(The light is applied to even the area behind the light model)

directional light
The light is radiated to all direction from the position (X, Y, Z) of the light
model.
The direction of the light model (RX, RY, RZ) does not affect the direction or
brightness of the light.

point light

13-3
 HRSpace3

In order to control the light’s position or direction, use the shift function. In case of directional light,
control the RX, RY, RZ. In case of point light, control the X, Y, Z.

In HRSpace, light consists of 3 elements, and you can specify the color of each element. If you click the
color button labeled with RGB value, the color dialog box opens and you can select a color you want.
The brightness slider on the left of color button is used to adjust only luminance element of the color.
(Generally, brightness slider would be enough, because light is achromatic in most cases.)

The meaning of 3 element of light is as below table:

The light filling the environment without specific direction.

Ambient It is not affected by the relative distance and direction between light and object’s
surface. So, it cannot express shading according the direction of object’s surface
The light being scattered in several direction at the surface of object.
Diffuse
The surface facing the light is enlightened over all, i.e. it makes shading on object.
The light being reflected with exactly same angle to incidence angle. Specific
Specular direction of sleek surface is intensive reacted with specular light, so it makes
reflection highlight.

13-4
 13.Misc. Function

Reapplying camera light

In case of the objects’ opposite surfaces on which the light cannot reach, the shades are not distinct.
You can enhance it with applying weak camera light again. Create a light model as a child of the
camera.

Select the directional light type, and set the dark gray color in model properties to reduce the
brightness of the light. The dark side shades are improved as below figure.

You can create up to 8 light models.

13-5
 HRSpace3

13.1.2. Material
If you click the Style tab – Fill group’s option (bottom-right button), the material dialog box appears. In
this dialog box, the material of current selected model can be set.

If you click the color buttons on the right of Ambient, Diffuse, Specular, Emission label, you can open
the color dialog box, and select a color you want. You may also type the value on the edit controls in
right of color button.

If the chain icon’s button is pressed, ambient is linked to diffuse, so their values are always equal. This
linked state is default. In general, when you apply some color on an object, it is enough to set diffuse
while ambient is liked to diffuse. (Setting Style tab – Fill group – Color is same to this.) But, if you want
more detailed material setting, other elements should be set, and sometimes this link have to be
unlocked.

13-6
 13.Misc. Function

Each element’s meaning is as below table: (Refer to section 13.1.1’s ambient, diffuse, specular light,
together.)

It determines how much ambient light’s respective RGB element is reflected

Ambient
among the light the object receives.

It determines how much diffuse light’s respective RGB element is reflected among
Diffuse the light the object receives. The shading according to the position of light and the
direction of surface is generated by this element.

It determines how much specular light’s respective RGB element is reflected

among the light the object receives.
If the specular material is black, all specular light is absorbed, so it would look like
Specular
rough surface. If the specular material is white, all specular light is reflected, and a
strong highlight appears on the specific position, so it would look like sleek metal or
plastic’s feel.

Emission It is not feature reflecting external light, but feature emit light by itself.

It determines the applied area of highlight by specular light. Lowest value 1 makes
Shininess
spread-wide highlight, and highest value 128 makes small obvious highlight.

Stock material drop-down list box contains various

materials. If one of them is selected, it’s values are
automatically inputted.

13-7
 HRSpace3

Supposing a light as left figure is installed, some

examples of effect according to various material
setting are shown in below table.

Material setting Result

Ambient = (0, 128, 192) Specular = (0, 0, 0) Blue material reflecting
Diffuse = (0, 128, 192) Shininess = don’t care both of ambient and
Emission = (0, 0, 0) diffuse light well

Ambient = (0, 0, 0) Specular = (0, 0, 0) Blue material reflecting

Diffuse = (0, 128, 192) Shininess = don’t care only diffuse light
Emission = (0, 0, 0)

Ambient = (0, 128, 192) Specular = (0, 0, 0) Blue material reflecting

Diffuse = (0, 0, 0) Shininess = don’t care only ambient light
Emission = (0, 0, 0) There is no shading at
all.

Ambient = (0, 128, 192) Specular = (255, 255, 255) Blue material with small
Diffuse = (0, 128, 192) Shininess = 128 (max) and obvious specular
Emission = (0, 0, 0) highlight

Ambient = (0, 128, 192) Specular = (255, 255, 255) Blue material with wide
Diffuse = (0, 128, 192) Shininess = 5 spread specular highlight
Emission = (0, 0, 0)

Ambient = (0, 128, 192) Specular = (80, 80, 80) Blue material emitting by
Diffuse = (0, 128, 192) Shininess = 5 itself
Emission = (128, 255, 255)

13-8
 13.Misc. Function

13.1.3. Shadow

If you check the ‘Display shadow’ option, the objects cast shadows.

However, this function has some limitation like belows:

- The shadows are not projected on other objects’ surfaces, but only on the Z=0 surface.
- If light or objects are entered into the Z<0 area, the shadows are expressed wrong.
- The point light’s shadows is unified as the direction from the light position to the object’s top
parent’s origin. That is, child models’ shadow directions follow this.
- If the shadow exceeds grid model’s surface, the sense of reality get worse. In case that the
shadow is long, make the grid bigger.

directional light’s shadow point light’s shadow

13-9
 HRSpace3

13.2. Preference dialog box

Various options of HRSpace3 can be set in Preference dialog box.

These settings are saved in Windows registry not in documents.

13.2.1. General tab

 General - Library
Set a default folder path when you select Import models in popup menu. Basically it is set to
HRSpcace3/Library.

13-10
 13.Misc. Function

 General - Work
Basic location that users’ work will be saved.

 General - Text editor

You can specify the path and filename of the text editor which is invoked when you edit JOB
file or VB script file. If it is blank, Notepad is invoked as a default.

 CAD Convetor
Specifies the path / file name of the utility that converts the HRSpace3 default format format
to .hrgeom files when importing various CAD format files. Please refer Section 5.1 for details.

 HRSafeSpace
Path / file name of the HRSafeSpace utility for setting the Hyundai Robot SafeSpace. For
details, refer to the SafeSpace Function Manual.

 VRML Convertor
Specifies the path / file name of the utility that imports VRML (.wrl) format files. Please refer
Section 6.1 for details.

13-11
 HRSpace3

13.2.2. Display tab

 Background color
Set background color on a 3-D screen.

 Camera
Smooth motion : If this is unchecked, when you use Camera group, there is no animation.

 dragging:

position Camera rotates, pans, or zooms as far as you drag the mouse.

The longer you drag the mouse, the faster the camera rotates, pans, or
velocity (default)
zooms, automatically.

 Job path
Select how to display a straight path between steps in Job. You can choose color, width,
pattern such as solid or dotted line.

13-12