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COSIMIR® 
COSIMIR® 
Cell Oriented Simulation of Industrial Robots 
 
Use COSIMIR® to plan robot-based workcells, to check the reachability of all positions, to develop programs for robots and 
controllers, and to optimize the workcell layout. All movements and handling operations can be simulated to avoid collisions and to 
optimize cycle times. The direct download of tested programs and positions into the robot controller is completely supported. 
The modeling extensions for COSIMIR® support the composition of robot-based workcells. Efficient modeling is provided by using 
component libraries containing machinery, robots, tools, conveyor belts, part feeders, etc. Free 3D modeling and import from CAD 
systems (e. g. AutoCAD™) are also possible. Additionally, COSIMIR® supports user defined libraries and project documentation. 
 
©·2000·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Operating 
Contents 
   The following links are only valid if the optional components have been installed: 
First steps with COSIMIR
Elements of the COSIMIR user interface
Commands
Dialog boxes
Mouse
Keyboard
Glossary
Mitsubishi Robot Interface for COSIMIR
COSIROP Extensions for COSIMIR
Collision Detection
Trajectory Generation
Process Simulation
Import and Display of Parametric Surfaces
Sensor Simulation
Camera Cruise
Texture Mapping 
 
Programming Languages: 
Movemaster Command (MRL) (Mitsubishi)
MELFA Basic (Mitsubishi)
V+ (Stäubli, Adept)
IRL (DIN 66312)
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Choosing a topic: 
 
Mouse: Move the mousepointer to the underlined topic to get further information on it. The appearance of the mousepointer will 
change to a hand . Then use the left mouse button. 
 
Keyboard: Press the TAB key to move the selection onto the selected topic to get further information on it. Then press the return 
key. 
To exit COSIMIR help: 
 
Mouse: On the File menu, click  Exit. 
 
Keyboard: Keep the ALT-Key pressed and press F4. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How To ... 
1. .. write your first program in COSIMIR 
2. .. move the robot in COSIMIR 
3. .. control the robot-controller’s simulated inputs and outputs 
4. .. create an MRL position list 
5. .. create and simulate an Movemaster Command (MRL) robot program 
6. .. place objects in the workcell 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How to write your first robot program in COSIMIR 
IIn this section you learn how to write your first robot program in COSIMIR. By means of a simple robot application the generation of 
an Movemaster Command (MRL) robot program and an MRL position list is shown step by step. The section closes with a table that 
summarizes the single steps. 
Loading the sample workcell 
At first the workcell is loaded. It contains the robot as well as the workpieces that are to be manipulated. 
 
Mouse: Select the command Open from the menu File. 
or: 
Toolbar: 
 
Keyboard: Hold down the ALT-key and press the keys F and O. 
    or: 
    Press CTRL and the function key F12. 
These commands open the dialog box Open File. In this dialog box you select the desired workcell. For the further steps in this 
section the sample model "SIMPLE.MOD" is used. It can be found in the subdirectory "TUTORIAL" which is located below the COSIMIR 
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directory. The figure below depicts the related selection in the dialog box. 
 
The workcell contains a MITSUBISHI Movemaster RV-E2, a large cuboid as deposit and a small cube. In this example the cube shall be 
picked by the robot and placed at another position. The positions are stored in an MRL position list. The program’s flow control is 
realized with an Movemaster Command (MRL) program. 
Opening a new MRL position list 
After opening the workcell, a new MRL position list is created. It is needed to store the robot’s positions. 
 
Mouse: Select the command New from the menu File. 
or: 
Toolbar: 
 
Keyboard: Hold down the ALT-key and press the keys F and N. 
    or: 
    CTRL + N 
You enter the dialog box file new that is shown in the figure below. In this dialog you select the desired type MRL position list. 
 
When you confirm your selection with "OK", a new and empty MRL position list window is created. You can modify its position and 
size on the screen. 
Opening a new Movemaster Command (MRL) program 
The robot’s movements and gripper actions which are needed to perform the task are stored in an Movemaster Command (MRL) 
program. Therefore a new Movemaster Command (MRL) program is created. The Movemaster Command (MRL) program takes the 
flow control by means of MRL commands. 
 
Mouse: Select the command New in the menu File. 
    or: 
Toolbar: 
 
Keyboard: Hold down the ALT-key and press the keys F and N. 
    or: 
    CTRL + N 
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You enter the dialog box File New that is shown in the figure below. In this dialog you select the desired type Movemaster Command 
(MRL) program. 
 
When you confirm your selection with "OK", a new and empty Movemaster Command (MRL) program window is created. You can 
modify its position and size on the screen. 
Moving the robot and building the position list 
The next step is the positioning of the robot at the desired positions. At first, the robot is moved to the position for picking the 
object “cube“. 
This position is: 
 
x = 300 mm, y = -150 mm, z = 320 mm. 
These values are given in the world coordinate system, which is located in the center of the robot’s base. In addition to the desired 
position of the robot TCP, its orientation is necessary, too. The orientation describes the rotation of the TCP relative to the world 
coordinate system. 
 
The orientation of the cube’s grip point is given by the following angles: 
 
Roll = 0.0°, pitch = 0.0°, yaw = 180.0°. 
 
These values have to be commanded as the desired pose for the robot. Therefore the robot’s TCP is moved to this pose. When 
arrived, the current TCP pose is stored in the position list. The configuration Right, Above, No-Flip is selected. 
 
To enter a pose in world coordinates numerically use the dialog box Set World Coordinates. 
 
Mouse: Select the command Set World Coordinates from the menu Extras / Robot Position. 
 
Keyboard: Hold down the ALT-key and press the keys X, P and D. 
Insert the values mentioned above into this dialog box. The correct input is shown in the figure below. 
 
When you confirm with "OK", the robot will move to the given pose if it is reachable. The following view of the workcell results: 
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The current position now is passed to the open MRL position list, which still is empty. Therefore its window has to be activated by a 
mouse-click at the window title. 
 
Now the current position, i.e. the position you have entered in the preceding step, can be taken over. 
 
Mouse: Select the command Insert Position from the menu Edit. 
    
or: 
Toolbar: 
 
Keyboard: Hold down the ALT-key and press the keys E and I. 
    or: 
    Shift + function key F2 
After the take over of the pose into the position list, it looks like this: 
 
Now the position for picking the cube is contained in the position list. Next, the position for placing the cube has to be inserted. This 
position shall be: 
 
x = 300 mm, y = 150 mm, z = 320 mm, roll = 0.0°, pitch = 0.0°, yaw = 180.0°. 
 
For take over into the position list you again open the dialog box Set World Coordinates as explained above. Then you enter the 
given values. The correct input is shown in the figure below. 
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The new pose is inserted into the position list, too. As explainedabove, first the window of the position list has to be activated, 
then the command Insert Position is issued. The correct position list with pick and place pose is shown below. 
 
Concluding this step, the MRL position list is stored by choosing the command Save As from the File menu, while the position list 
window is the active window. This will open the dialog box Save Position List. The name of the position list is arbitrary. It is chosen 
to be "SIMPLE.POS" for clarity here, i.e. equal to the name of the workcell but with the "pos"-extension which is the common choice 
for position lists. 
 
Mouse: Select the command Save As from the menu File. 
 
Keyboard: Hold down the ALT-key and press the keys F and A. 
    or: 
    Function key F12 
In the dialog box you select the file extension for an MRL position list (*.POS) and the desired filename. The correct input is shown in 
the figure below. 
 
The correct result is available in the file "SIMPLEOK.POS". 
Generation of the Movemaster Command (MRL) program 
The MRL position list contains the positions no. 1 and 2. Pose no. 1 is for picking the cube and pose no. 2 is for placing. 
 
Now the following program flow is formulated in the Movemaster Command (MRL) program: 
1. Move to an approach position a few centimeters above pose 1 
2. Move to pose 1 
3. Close the gripper 
4. Move back to the approach position above pose 1 
5. Move to an approach position a few centimeters above pose 2 
6. Move to pose 2 
7. Open gripper 
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8. Move back to the approach position above pose 2 
The generation of the Movemaster Command (MRL) program is done in the Movemaster Command (MRL) program window that you 
have opened at the beginning. Into this window you enter the program code as MRL commands. 
 
The first four steps of the program flow are formulated with the commands shown in the figure below. 
 
After gripping the object, the pose for placing the object onto the deposit is approached. Then the object is released. These steps, 
i.e. steps no. 5 through 8, are shown in the figure below together with the first four steps. The end of the Movemaster Command 
(MRL) program is marked with the command ED. 
 
 
Concluding this step, the Movemaster Command (MRL) program is saved. Therefore with activated program window and the 
command Save As from the menu File the dialog box Save MRL Program is opened. The name of the program is chosen to be 
"SIMPLE.MRL". 
 
Mouse: Select the command Save As from the menu File. 
 
Keyboard: Hold down the ALT-key and press the keys F and A. 
    or: 
    Function key F12 
In the dialog box you select the file extension for an Movemaster Command (MRL) program (*.MRL) and the desired filename. The 
correct input is shown in the figure below. 
 
The correct result is available in the file "SIMPLEOK.MRL". 
Compile 
For simulation in COSIMIR the Movemaster Command (MRL) program has to be compiled and linked. Therefore you activate the 
Movemaster Command (MRL) program window and start the compiler. 
 
Mouse: Select the command Compile+Link from the menu Execute. 
 
  or: 
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Toolbar: 
 
Keyboard: Hold down the ALT-key and press the keys X and C. 
    or: 
    CTRL + function key F9 
After the compiler has translated the program, a message window is opened or it is activated if it has been opened before. It either 
contains a success message or a list of errors and warnings. The figure below shows the message after successful compilation. 
 
After successful compilation the program is automatically loaded into the robot controller of the simulation system. It can be tested 
now. 
Test of the Movemaster Command (MRL) program 
There are several possibilities to start program execution: 
 
Mouse: Select the command Start from the menu Execute. 
    or: 
    Click with the right mouse button into the leftmost field of the status bar. 
    or: 
Toolbar: 
 
Keyboard: Hold down the ALT-key and press the keys X and S. 
    or: 
    CTRL + Q 
The robot controller simulates the complete run once and then terminates at the end of the program. Prior to a restart you have to 
reset the workcell, i.e. place the cube back to its initial position. The reset of the workcell can be done with the following 
command: 
 
Mouse: Select the command Reset Workcell from the menu Edit. 
 
Keyboard: Hold down the ALT-key and press the keys E and R. 
Now you can restart the program. Furthermore, you can modify or enhance the program. 
Table of the single steps 
Command 
description
Invocation 
method
  Related Help
Open a Workcell Menu: File/Open Command File 
Open
  Toolbar:  
  Keyboard: ALT+F+O  
  Shortcut: CTRL+O  
Create a new MRL 
position list
Menu: File/New Command File New
  Toolbar: Position list
  Keyboard: ALT+F+N Position entry
  Shortcut: CTRL+N  
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Create a new 
Movemaster 
Command (MRL) 
program
Menu: File/New Command File New
  Toolbar: Program 
  Keyboard: ALT+F+N  
  Shortcut: CTRL+N  
Enter a robot 
position
Menu: Extras/ 
Robot Position/Set 
World Coordinates
Command Extras 
Robot Position Set 
World Coordinates
  Toolbar:   Window World 
Coordinates
  Keyboard: ALT+X+P+D Positioning the 
robot
  Shortcut:    
Take over a 
position into a 
position list
Menu: Edit / Insert 
Position
Command Edit 
Insert Position
  Toolbar: Position list
  Keyboard: ALT+E+I Position entry
  Shortcut: SHIFT+F2  
Save new 
MRL-position list / 
Movemaster 
Command (MRL) 
program
Menu: File/Save As Command Save As
  Toolbar:    
  Keyboard: ALT+F+A  
  Shortcut: F12  
Compile 
Movemaster 
Command (MRL) 
Program 
Menu: Execute/ 
Compile+Link
Command 
Compile+Link
  Toolbar:  
  Keyboard: ALT+X+C  
  Shortcut: CTRL+F9  
Start Movemaster 
Command (MRL) 
Program
Menu: Execute/Start Command Start
  Toolbar:  
  Keyboard: ALT+X+S  
  Shortcut: CTRL+Q  
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How to move and position the robot in COSIMIR 
COSIMIR offers several methods to move and position the robot in the simulated workcell. The teach-in method is most commonly 
used with industrial robot controllers. In this mode of operation the user moves the robot by means of a teach pendant. In COSIMIR 
you can also enter the desired pose numerically. 
Open the robot workcell 
To work with COSIMIR a window with a view of the robot workcell is opened. 
    
Mouse: Select the command Open from the menu File. 
 
    or: 
Toolbar: 
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Keyboard: Hold down the ALT-key and press the keys F and O. 
    or: 
    CTRL + F12. 
With one of these commands the standard dialog box for opening a file is opened. In this dialog box you select the desired workcell. 
In the further steps of this section the model "LABRVM1.MOD" is used. It can be found in the subdirectory "TUTORIAL" which is 
located below the COSIMIR directory. The figure shows the related selection in the dialog box. 
 
 
This workcell contains a MITSUBISHI RV-M1 robot, and some other objects for manipulation. The figure below shows the whole 
workcell. 
 
The robot can be moved now. 
Moving the robot by Teach-In 
At first you have to open the Teach-In window. 
    
Mouse: Select the command Teach-In from the menu Extras. 
    
Keyboard: Hold down the ALT-key and press the keys X and I. 
    or: 
    Function key F8. 
 
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The Teach-In window is opened, or it is activated if it has been opened before. 
 
In the right part of the window you can select the coordinate system that you intend to use for moving the robot. You have thechoice between world coordinates, joint coordinates and tool coordinates. 
 
The selection of the coordinate system leads to a change of the teach-in window type into the window Teach-In World Coordinates, 
window Teach-In Joint Coordinates or window Teach-In Tool Coordinates, respectively. 
 
In this window you can move the robot by clicking the small arrow buttons. The velocity can be configured with the scrollbar at the 
bottom of the window. 
 
The movement is terminated by release of the arrow button, or if an error occurs. The following errors are possible: 
 
A joint limit, i.e. an end of the positioning range, is reached. Strictly speaking, this depends on the current velocity and on the 
available deceleration for stopping before the joint limit is reached: 
 
A further movement into the desired direction is not possible because the bounds of the work-space are reached: 
 
The robot has been moved in world or tool coordinates near to a kinematic singularity: 
 
Numerical input of position in joint coordinates 
Besides Teach-In COSIMIR allows numerical input of the robot position in world coordinates or in joint coordinates. 
The numerical input in joint coordinates is done in the dialog box Set Joint Coordinates. 
    
Mouse: Select the command Set Joint Coordinates from the menu Extras / Robot Position. 
    or: 
    Context menu of the window Joint Coordinates or of the window Teach-In Joint Coordinates. 
    or: 
    Double-click in the window Joint Coordinates or in the window Teach-In Joint Coordinates. 
    
Keboard: Hold down the ALT-key and press the keys X, P and O. 
This part of the menu is depicted in the figure below. 
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With this command the dialog box is opened. It is depicted in the figure below. It contains an edit control for each joint. The 
current joint values are available as defaults. 
 
Into the edit controls you can enter the desired position, and you confirm your input with the OK button. If reachable, the robot 
takes this position. 
Numerical input of position in world coordinates 
The numerical input in world coordinates is done in the dialog box Set World Coordinates. 
    
Mouse: Select the command Set World Coordinates from the menu Extras / Robot Position. 
    or: 
    Context menu of the window World Coordinates or of the window Teach-In World Coordinates. 
    or: 
    Double-click in the window World Coordinates or in the window Teach-In World Coordinates. 
 
Keyboard: Hold down the ALT-key and press the keys X, P and D. 
This part of the menu is depicted in the figure below. 
 
With this command the dialog box is opened. It is depicted in the figure below. It contains an edit control for each coordinate. The 
current position is available as default. 
 
Into the edit controls you can enter the desired position, and you confirm your input with the OK button. If reachable, the robot 
takes this position. In addition to the values for position and orientation the desired kinematic configuration is selected if the robot 
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allows for this. 
Interactive positioning with the mouse 
In the window Robot Workcell View you can position the robot interactively: 
    
Mouse: Double-click with the left mouse button. 
The Tool Center Point moves to the position that is indicated by the mouse pointer, provided the position is reachable. The 
orientation remains unchanged. 
 
Since a workcell view is a two-dimensional projection you need more than one view to specify positions three-dimensionally. To 
avoid complicated relations you choose two orthogonal views. A simple choice is the top view (command Top View) combined with a 
side view (command Left Side View or command Right Side View). In the top view you determine the x- and y-coordinates by single 
mouse click. This position is marked. Now, with a double-click in the side view, you determine the x- and z- or the y- and z-
coordinates, respectively. 
Positioning from position list 
Furthermore, you can position the robot by means of an opened position list or MRL position list. 
    
Mouse: Double-click with the left mouse button to the desired position list entry. 
The Tool Center Point moves to the pose given by the position list entry, provided it is reachable. Unlike interactive positioning, the 
orientation is taken over, too. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How to control simulated input and output signals 
Open the robot workcell 
For the further steps in this section a robot workcell view window of the workcell "LAB.MOD" saved in the "TUTORIAL" directory is 
used. 
The opened workcell contains a Mitsubishi RV-E2 robot and some handling objects. The following figure shows the whole workcell. 
 
Displaying the actual input and output values 
The actual values of the simulated inputs and outputs can be displayed in the corresponding windows Inputs and Outputs. 
 
Mouse: Select the command Show Inputs or Show Outputs from the Extras / Inputs/Outputs menu. 
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Keyboard: Hold down the ALT key and press keys O, O and I for the input window and O, O and O for the output window. 
    or: 
    Function key F9 for inputs, SHIFT+ function key F9 for outputs 
The following figure shows an input window. 
 
Only inputs with a name different from "[inactive]" are displayed. Behind the input name its actual value and connection state are 
displayed. The value is represented by the number 1 (digital value 1) or 0 (digital value 0). The connection state is displayed by 
different bracket types enclosing the value. The "[]" brackets mean an input connected to an output. "<>" brackets mean a forced 
input value. Missing brackets mean an interactive user input for the value. 
 
In the previously shown figure the following values and states are shown: 
 
MixerOn <1>: the input "MixerOn" is forced to value 1; 
PH_Ready <0>: the input "PH_Ready" is forced to value 0; 
Wait[1]: the input "Wait" is connected to an output and has an actual value of 1; 
Next 0: the input "Next" is interactive, each time the input is used, the user is asked for the value by the Polling Input window; the 
actual value is 0; 
PipetteOK [0]: the input "PipetteOK" is connected to an output and has the actual value 0; 
 
The value of inputs with the name "[inactive]" is always 0. 
 
The following figure shows an Output window. 
 
Only outputs with a name different from "[inactive]" are displayed. Behind the output name its actual value is displayed. 
Rename inputs and outputs 
In COSIMIR inputs and outputs must have a name different from "[inactive]" to be shown or used. All inputs and outputs named 
"[inactive]" are not shown in the corresponding windows and their values are always 0. 
 
To rename inputs or outputs open the Model Explorer e.g. by clicking the symbol in the toolbar. Select the desired object and its 
Folder Inputs or Outputs. 
 
Mouse: Select the desired input or output and right click on its name. Then select Rename from the displayed context menu . 
or: 
Slowly double-click on the input or output name. Then enter the new name. 
 
Keyboard: Press the F2 key an enter the new name for the input or output. 
The following figure shows the selected Output in the Model Explorer of COSIMIR. 
 
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First, select the object which owns the input/output channel. In the folder Input/Output all input or output channels owned by this 
object are shown and can be edited. 
Connecting inputs and outputs 
The possibility to connect input and output channels from different objects in a workcell is the main functionality of inputs and 
outputs in COSIMIR. It enables the control of objectsin the workcell by the robot-controller. If an output is set to a certain value, all 
inputs connected to this output are set to the same value. This can be used for example to turn a conveyor belt on or off. 
 
Open the Model Explorer to connect inputs to outputs. 
 
The input to be connected should be visible in the right frame of the Model Explorer´s window as well as the output of the robot in 
the left frame. 
 
Mouse: Select the input and leave the left mouse button pressed while moving the Input to the robot´s output. Then release the 
mouse button. The input and output will be connected. 
The following figure shows the Model Explorer for the previously shown example. 
 
 
The information about connections of inputs and outputs is shown in the Model Explorer. 
To change the connection act like this: 
 
Mouse: Select the output with the right mouse button and choose Remove Connection(s) from the context menu to remove all 
connections to the selected output. 
Direct output setting 
 
Mouse: Select the output with the right mouse button and choose Set Value and the 1 or 0 to set the value of the selected output. 
  
Setting outputs from a SRPL program 
You can change an output value with a SRPL program. In each program step only one output can be set. The dialog box Set Output is 
opened to select the output channel and value. The selection is only enabled, if a SRPL program window is the active window. 
 
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Mouse: Select the command Set Output from the Edit / Step Functions menu. 
    or: 
    Context menu in the SRPL program window. 
 
Keyboard: Hold down the ALT key and press keys E, S and I. 
Reading inputs from a SRPL program 
ou can read an input value from a SRPL program to control program flow. In each program step only one output can be read. The 
dialog box Poll Input is opened to select the input channel and value. The selection is only enabled, if a SRPL program window is the 
active window. 
 
Mouse: Select the command Poll Input from the Edit / Step Functions menu. 
    or: 
    Context menu in a SRPL program window. 
 
Keyboard: Hold down the ALT key and press keys E, S and I. 
The following SRPL program sets the output "PH_Measure" (3) to the value 1 after the first move statement. After the second move 
statement the program waits until input "Next" is set to Value 1 before executing the third move statement. 
 
The input "Next" is not connected to an output. To set the value for a unconnected input by the user the dialog box Input Polling is 
opened. 
 
The dialog box will be opened until the user sets the input channel to 1 (left field) or forces the value to 1 (right field). 
 
The shown SRPL program is saved as "IO.PGM" in the "TUTORIAL" directory. 
Setting outputs from a Movemaster Command (MRL) program 
In a Movemaster Command (MRL/Mitsubishi Robot Language) program an output can be set by a command. The output number is 
used to refer to a specific output. In the previously shown example the output "PH_Measure" has the logical number 3. The 
assignment is shown for example in the Rename Inputs/Outputs dialog box. 
 
The MRL command is OB. 
 
The following Movemaster Command (MRL) program sets the output "PH_Measure" (3) to value 1. 
 
The shown Movemaster Command (MRL) program is saved as "OPLUS3.MRL" in the "TUTORIAL" directory. 
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Reading inputs from a Movemaster Command (MRL) program 
Digital input channels can be used to control the program flow in Movemaster Command (MRL) programs. All inputs are read and 
their values are saved in an internal register. This register can be used to compare values or for bit test. 
 
The MRL command is ID. 
 
The following Movemaster Command (MRL) program reads the input values and moves to position 1 or position 2 depending on the 
value of the logical input Next. 
 
The shown Movemaster Command (MRL) program is saved as "POS12.MRL" in the "TUTORIAL" directory. 
Setting outputs from a IRL program 
As Movemaster Command (MRL) programs also IRL (Industrial Robot Language) programs use the logical output number to set an 
output. The output is declared as a variable which can be set by the program. 
 
The following IRL program sets the output "PH_Measure" (3) to the value 1. 
 
The shown IRL program is saved as "PHPLUS3.IRL" in the "TUTORIAL" directory. 
Reading inputs from a IRL Program 
In contrast to Movemaster Command (MRL) programs in IRL programs each input is read individually. 
 
The following IRL program reads the input "MixerOn" (logical Number 0) and displays its value. 
 
The shown IRL program is saved as "INPMIX.IRL" in the "TUTORIAL" directory. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How to generate a MRL position list 
In COSIMIR you can use position lists. This is a useful tool for developing and correcting programs. A position list contains positions 
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which can be used by one or by several programs simultaneously. The positions from a position list can easily be adapted to changes 
in the workcell by using coordinates relative to an object. 
For the further steps in this section the workcell model "LABRVM1.MOD" from directory "COSIMIR\TUTORIAL" is used. The following 
figure shows this workcell model, containing a robot and three objects. The three objects are cups. The robot is supposed to grip 
and to move them. 
 
For a correct handling the cups must be gripped at their grip points. Before creating a program, a position list containing the grip 
points should be created. 
First open a position list window and choose the COSIMIR format, which will be converted to the MRL format later. The advantage of 
the COSIMIR formats is the possibility to use object-relative coordinates. The MRL format can be included in Movemaster Command 
(MRL) programs. 
 
While working with position lists you should use the COSIMIR format. When all positions are tested the position list can be converted 
to the MRL format. 
 
Mouse: Select the command New from the File menu. 
    or: 
    Toolbar: 
 
Keyboard: Hold down the ALT key an press keys F and N. 
    or: 
    CTRL+N 
The following shown dialog box File New will be opened. 
 
Choose Position List to open a new position list window. 
 
Now the actual robot position is inserted to the position list: 
 
Mouse: Select the Insert Position command from the Edit menu. 
    or: 
    Context menu in the position list window 
    or: 
Toolbar: 
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Keyboard: Hold down the ALT key and press keys E and I. 
    or: 
SHIFT and function key F2. 
The actual position is inserted in the position list with the name "POS1", like shown in the following figure. 
 
A double click on an inserted position sets the actual robot position. The position "POS1" has world coordinates, it is not relative to 
an object in the workcell. The shown position list is saved as "POS1.PSL" in the "TUTORIAL" directory. 
 
The cup grip points must be inserted into the position list to be used by a robot program for handling the cups. In this case a position 
relative to an object should be used. Insert a new position "POS2" in the position list. The actual robot position doesn't matter 
because now the relation between the position and the red cup (object "BecherRot") must be created. 
 
Select the "POS2" entry in the position list and open a dialog box to edit the position list entry. 
 
Mouse: Select the command Properties in the Edit menu. 
    or: 
    Context menu in the position list window 
 
Keyboard: Hold down the ALT key and press keys E and R. 
The following dialog box is opened: 
 
Choose the object "CupRed" from the list in the "Relative to Object"field. This creates the relation between the position and the 
object. The relative coordinates from position "POS2" to the grip point of the object "CupRed" are calculated and inserted below the 
object name, but the position has not changed. Now the aspired values are inserted in the input fields for the relative object 
position. Enter 0.0 for X, Y, Z, Roll, Pitch and Yaw. Position and orientation of the TCP and the grip point are identical. Now this 
position must be calculated in world coordinates according to the object's position and the relative coordinates. Select the "Object -
> World Coordinates" button for this calculation. 
 
After closing the dialog box the new world coordinates and the "Rel. to Object" entry are set in the position list. A double click on 
the "POS2" entry moves the robot to this position, and you can check its correctness. The shown position list is saved as "POS12.PSL" 
in the "TUTORIAL" directory. 
 
To complete the position list, do the previously shown steps for the position "POS3" with the relative object "CupYellow" and for 
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"POS4" with the relative object "CupBlue". The result is the following position list: 
 
The shown position list is saved as "POS1234.PSL" in the "TUTORIAL" directory. 
 
This created position list has the COSIMIR format, it must be converted before using it in a Movemaster Command (MRL) program. 
 
For this conversation open the dialog box "Save as" and save the position list with a new name and the extension "*.POS" for the MRL 
position list type. 
 
Mouse: Select the command Save As from the File menu. 
 
Keyboard: Hold down the ALT key and press keys F and A. 
    or: 
    Function key F12 
The following figure shows the dialog box where you can enter the new file name and select the MRL Position List (*.POS) file type. 
 
 
The values used in this example can be converted without problems. The COSIMIR position list has been converted to a MRL position 
list. In the position list window the column "Name" is renamed to "Nr." and the names have changed to consecutive numbers. 
 
The shown position list is saved as "POS1234.POS" in the "TUTORIAL" directory. Now it can be used in a Movemaster Command (MRL) 
program. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How to generate and simulate a Movemaster Command (MRL) robot program 
The integrated program development tool is an important feature of COSIMIR. It allows the development and simulation of robot 
programs using different robot programming languages. After creation of the program the syntactic correctness is checked. From the 
COSIMIR user interface the program is compiled into IRDATA code, which is used for simulation within COSIMIR. The developed and 
checked robot program can be downloaded into a real robot-controller where it can be used to control a real robot. In the following 
a Movemaster Command (MRL) robot program will be developed and tested using a modeled workcell. 
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In the chapter How to generate a MRL position list a position list was created, which will be used for the new Movemaster Command 
(MRL) program. The task of this program is to exchange the red and the yellow cup. 
The further steps of this section are done using the model "LABRVM1.MOD" located in the subdirectory "TUTORIAL" below the 
directory of COSIMIR. The following figure shows the known workcell containing the robot and the three cups. After that the already 
created position list is listed. 
 
 
To control a gripper from a Movemaster Command (MRL) program the output with the logical number -1 has to be named, for 
example "GrpClose". It is important to use the logical number -1 because the MRL commands GO and GC control this output. Then 
this output must be connected to a gripper. How to do this is described clearly in the chapter How to control the simulated inputs 
and outputs of the robot-controller. These are the related settings with the Model Explorer of COSIMIR. 
 
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Now you can start to create a program solving the given task. First you have to open a Movemaster Command (MRL) program 
window. 
 
Mouse: Select the command New from the File menu. 
    or: 
Toolbar: 
 
Keyboard: Hold down the ALT key and press keys F and N. 
    or: 
    CTRL+N 
You will get the dialog box File New shown in the following figure. 
 
You have to choose the type MRL Program. A new program window will appear, in which you can type in the desired program text 
using MRL syntax. The following figure shows the first part of the program; the robot moves to the start pose. 
 
The subdirectory "TUTORIAL“ below the directory of COSIMIR contains the shown Movemaster Command (MRL) program under the 
name "PROG1.MRL". 
 
Before being simulated with COSIMIR the Movemaster Command (MRL) program must be compiled into IRDATA code. 
 
To save the Movemaster Command (MRL) program under the desired name open the dialog box "Save Movemaster Command (MRL) 
program". 
 
Mouse: Select the command Save as from the File menu. 
 
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Keyboard: Hold down the ALT key and press keys F and A. 
    or: 
    Function key F12 
A dialog box appears where you can choose the file format Movemaster Command (MRL) program (*.MRL) as well as the name for the 
program. The following figure shows a possible input. 
 
The target position used in the program is not defined within the program but in the position list shown above. You have to make 
this list known to the MRL compiler. 
 
Mouse: Select the command Settings / Compiler in the Option menu. 
 
Keyboard: Hold down the ALT key and press keys X, S and P. 
This way you open the dialog box Compiler Settings. 
 
In this dialog box the name of the position list is entered in the field Position Lists, see following figure. 
 
Now the successfully saved program can be compiled. 
 
Mouse: Select the command Compile+Link in the Execute menu. 
    or: 
    Toolbar: 
 
Keyboard: Hold the ALT key and press keys C and C. 
    or: 
    CTRL+function key F9 
After compilation a message window is opened showing the results of the compilation: success or the type of error. The following 
figure shows a message window in the case of successful compilation. 
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The translated program is automatically loaded into the robot control of the simulation system and can be executed. To start the 
program interpretation choose one of the following actions: 
 
Mouse: Select the command Start in the Execute menu. 
    or: 
    Click with the right mouse button in the field Running State in the status bar. 
    or: 
    Toolbar: 
 
Keyboard: Hold down the ALT key and press keys C and S. 
    or: 
    CTRL+Q 
One complete execution of the program will be simulated and the program will be terminated at the end. Using the command 
Extras / Settings / IRDATA Interpreter you can activate source code tracing. The currently interpreted program line is highlighted. 
Using this tracing facility you can easily locate errors in the robot program. In this example program the robot moves toward the 
pose marked 1 in the position list. 
 
As the next step you will program gripping of the red cup. The created program is listed within the next figure and stored under the 
name "PROG2ERR.MRL" in the subdirectory "TUTORIAL" below the directory of COSIMIR. 
 
After compilation of this new program a message window appears which contains an error message. 
 
The error is described in the second line of the window: After the name of the compiled program the number of the linecontaining 
the error is printed between the two colons, here line 13. Afterwards the error description follows, in this case the compiler has 
discovered an unknown command. 
 
If you double-click the line with the error message the cursor automatically jumps to the line of MRL code containing the bad MRL 
command. 
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The error is created by a space between the letters "GC". After you have deleted the misplaced space the program can successfully 
be compiled. 
 
The final version of the resulting Movemaster Command (MRL) program to exchange the cups is listed below. 
1 'Change red and yellow cup 
10 'Start pose, pos. no. 1 
20 'with opened gripper 
30 MO 1, O 
 
40 '50 mm above the red cup (pos. 2) 
50 MT 2,-50 
60 'move directly to pos. 2 
70 MS 2, 10, O 
80 'close gripper 
90 GC 
100 'lift and leave 
110 MT 2, -50, C 
 
200 'Define an intermediate pose 
PD 9,350.6,150.1,70,-90,-12.04 
210 'Move to inter. pose and place cup 
220 MT 9, -50, C 
230 MT 9, 0, C 
240 GO 
250 MT 9, -50 
 
300 'Now place yellow cup at old pose of 
310 'red cup 
320 '50 mm above yellow cup (pos. 3) 
330 MT 3,-50 
340 'move directly to pos. 3 
350 MS 3, 10, O 
360 'close gripper 
370 GC 
380 'lift and leave 
390 MT 3, -50, C 
400 'move to old pose of red 
410 'cup and place yellow cup 
420 '50 mm above red cup (pos. 2) 
430 MT 2,-50, C 
440 'move directly to pos. 2 
450 MS 2, 10, C 
460 'close gripper 
470 GO 
480 'lift and leave 
490 MT 2, -50 
 
500 'pick the red cup 
510 'move to inter. pose and place 
520 MT 9, -50 
530 MT 9, 0 
540 GC 
550 MT 9, -100, C 
 
600 'back to the old pose of yellow cup 
610 '100 mm above yellow cup (pos. 3) 
620 MT 3,-100, C 
630 'move directly to pos. 3 
640 MS 3, 10, C 
650 'open gripper 
660 GO 
670 'lift and leave 
680 MT 3, -100 
999 'READY! 
1000 ED 
This program solves the given task. It is stored under the name "PROGALL.MRL" in the subdirectory "TUTORIAL" below the directory 
of COSIMIR. 
 
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©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
How to modify objects within the workcell 
In COSIMIR a loaded workcell can be modified by the user. Objects of the cell can be moved, rotated or colored. Problems of 
reachability, e.g. when gripping, can be solved by moving or rotating individual objects. 
After modelling a workcell COSIMIR will be used to create and simulate the robot programs. During the simulation you can detect 
errors in your programs due to algorithmic or reachability problems. 
To cope with the second class of errors the robots or the objects that are handled by the robot can be moved. 
 
The further steps of this section refer to the model "MOVERVM1.MOD", which is located in the subdirectory "TUTORIAL" below the 
directory of COSIMIR. The following figure shows the workcell including one robot and three cups, which shall be positioned by the 
robot. 
 
For use in this workcell you have created the shown position list "MOVEPSL1.PSL", which is located in the subdirectory "TUTORIAL" 
below the directory of COSIMIR. 
 
In this list all grip points are defined relative to the object that is gripped by the robot. The dialog box to create the entry "POS2", 
which is defined relative to the position of the red cup is shown here. 
 
For every pose you have to check whether the robot can reach this pose. To do this you can move the robot TCP to the checked pose 
by a double click with the left mouse button at the pose entry in the list. 
A double click at pose "POS2" will result in the following error message: 
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The robot can not reach this position with the desired orientation because the pose is not within its workspace. 
Besides this you can check the reachability of all poses of the list with the command Extras / Position List / Check Reachability. This 
command is part of the menu Extras and of the context menu of the position list. Positions that are out of reachability are displayed 
in gray. 
To allow gripping of the cups you must place them within the workspace of the robot. 
To change the position of the cups select the command Execute Model Explorer or select the button in the tool bar. This will 
open the Model Explorer, which is the central window for operations on objects. It is handeled in a similar way like the Windows 
Explorer. 
 
You can open the modeling hierarchy by clicking on the "+" in front of the entries. Select the objects (in this case one of the cups) 
you want to modify by clicking left with the mouse. Click right on the selected entry. A context menu will open. Select Properties. 
The opened dialog box will show different property sheets like General, Position or Extended. Select Position. 
 
Here you can enter the coordinates and orientation of the object. You can alter the position directly by entering the value in each 
text field or using the spin controls. Increment means the step by which the actual position is altered when using the spin controls. 
Coordinate system is the base coordinate system which is used to calculate the shown values of the position. 
Move the cups one after the other with the operator accept to the x-position 375.6 mm by entering this value in the X text field. 
After moving all cups you can close the dialog boxes. 
You can save the modified workcell. It is stored with the name "NEWRVM1.MOD" in the subdirectory "TUTORIAL" below the directory 
of COSIMIR. 
 
In the next step the positions in the position list will be updated to reflect the object movements. Select the Command Extras / 
Position List / Object->World coordinates, which computes all listed positions from the current object positions. 
You can find the position list after the update in the file "MOVEPSL2.PSL" in the subdirectory "TUTORIAL" below the directory of 
COSIMIR. 
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You can now check the new positions for reachability as described before. If there should still be any reachability problems repeat 
the selection and move commands until all position will be within the workspace. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Elements of the COSIMIR user interface 
Choose the topic you want to know more about 
 
Window Workcell View
Window SRPL robot program
Window IRL/MRL/BAPS/V+ program
Window position list
Window outputs
Window inputs
Window joint coordinates
Window world coordinates
Window joint coordinates (Teach-In)
Window world coordinates (Teach-In)
Window tool coordinates (Teach-In)
Window recorder
Window toolbar
Status bar
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Workcell View 
The open workcell is shown graphically in the workcell view window. You can open further windows with different workcell views by 
means of the command New from the View menu. 
The viewpoint and the reference point can be adjusted numerically or the view can be moved, rotated, zoomed in or out by means 
of the mouse. The command view rendering allows you to select the kind of representation. 
 
A click on the right mouse button activates a context menu with the commands: 
This context menu makes the most important commands to manipulate the workcell windows available immediately. 
See also 
Default Setting
Front View
Rear View
Top View
Left Side View
Right Side View
Full Format
Move
Rotate
Zoom
Rendering
Look at
Floor
Command Rotate
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Command Move
Befehl Zoom
Command Look at
Command Rendering
Elements of the COSIMIR user interface
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window SRPL Robot Program 
A SRPL (Simple Robot Programming Language) window offers a menu orientedmethod to create and modify robot programs. The 
necessary commands are located in the menu Edit/Step Functions. 
A SRPL program consists of multiple steps, each one consisting of the following elements: 
 
SRPL programs are simulated in COSIMIR without having to be translated into an intermediate code (IRDATA). 
The next figure shows an SRPL program in a window: 
 
 
Pressing the right mouse button opens a context menu, which contains the following commands: 
See also 
  
a robot position in joint coordinates,
the motion type to move to the position,
several step functions like velocity override, suspension, call of subroutines, etc..
Insert
Insert Position
Accept Position
Speed Override
Acceleration Override
Continous Motion
Waiting Time
Set Output
Poll Input
Subroutine
Command Insert Position
Command Accept Position
Command Delete Step Functions
Elements of the COSIMIR user interface
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Robot Program 
This window contains an IRL-, MRL-, BAPS-, V+ or another robot program. To simulate a high level program in COSIMIR these 
programs have to be translated into IRDATA code before. To trace program execution select the control Source Code Sequence Trace 
in the dialog box IRDATA Interpreter. 
The next figure shows an IRL program in a window: 
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The robot program window can be used like a text editor. 
  Notice: Because of restrictions in Windows 3.1x, 95/98/ME the editable size of programs is limited to 64 kBytes. This limitation 
does not exist in Windows NT/2000. 
 
By clicking the left mouse button you place the cursor at the location where you want to insert text by keyboard or by pasting from 
the clipboard. Keep the left mouse button pressed to mark program text to be copied into the clipboard. 
Pressing the right mouse button opens a context menu, which contains a set of the most important statements of the robot 
programming language, which may be inserted directly into the program text. 
See also 
 
Command Edit Copy
Command Edit Paste
Elements of the COSIMIR user interface
Compile+Link
Compile
Link
Command IRDATA Interpreter
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window IRDATA Program 
The window IRDATAprogram shows the actually loaded IRDATA program. 
High level robot programs like IRL or MRL programs have to be translated into IRDATA code before simulating them in COSIMIR. 
See also 
 
Command Settings IRDATA Interpreter
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Position List 
A position list consists of several entries, each one having the following properties: 
1. In COSIMIR position lists each entry is referenced by a name, while MRL position lists use numbers to distinguish between 
different entries. 
2. Each entry has a position using world coordinates, joint coordinates or in MRL-5-joint coordinates. World coordinate positions 
are build of a position (X-, Y- and Z-coordinates), an orientation and an optional configuration. Positions in joint coordinates 
use the value of each single joint to describe the robot position. They are display in ”(” and ”)” signs and can’t be relative to 
an object. 
3. An optional name of an object the position is relative to. The relation is described with X-, Y- and Z-coordinates and an 
orientation based on the object coordinate system. MRL position lists don’t support relative positions. 
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New entries in a position list may be created in the following ways: 
I.Entries using world coordinates for position and orientation and an optional configuration: 
1. Activate or open a window showing the robot position in world coordinates and copy the position using the command Edit Copy 
(CTRL+C). 
2. Insert the copied value into the position list using Edit Paste (CTRL+V). The new position is inserted above the selected entry. 
or: 
    Choose the menu command Edit Insert Position (SHIFT+F2). 
or: 
    Use Insert Position from the context menu of a position list window. 
II.Entries using world coordinates for position and orientation and being relative to an object: 
1. Open the Model Explorer and select the desired object. 
2. Activate or open a window showing the robot position in world coordinates and copy the position using the command Edit Copy 
(CTRL+C). 
3. Insert the copied value into the position list using Edit Paste (CTRL+V). 
or: 
1. Open the Model Explorer and select the desired object. 
2. Choose the menu command Edit Insert Position (SHIFT+F2). 
or: 
1. Open the Model Explorer and select the desired object. 
2. Use Insert Position from the context menu of a position list window. 
III.Entries using joint coordinates: 
1. Activate or open a window showing the robot position in joint coordinates and copy the position using the command Edit Copy 
(CTRL+C) 
2. Choose the menu command Edit Insert Position (SHIFT+F2). 
IV.Copy entries of the position list: 
1. Select the entry to be copied. 
2. Copy the entry using the command Edit Copy (CTRL+C). 
3. Select the entry the new copy is to be inserted above. 
4. Insert the copy into the position list using Edit Paste (CTRL+V). 
How to change entries in a position list: 
I.Change the position of an entry to the actual robot position: 
1. Select the entry to be changed. 
2. Replace the position by the actual position using the command Edit Accept Position (CTRL+F2) or the context menu. The type 
of the position, e.g. world or joint coordinates is kept constant. 
II.Edit an entry: 
1. Select the entry to be edited. 
2. Use the command Edit Properties (ALT+Enter) to open the dialog box Position List Entry to edit the value. 
You set the actual robot position to a position in a position list by double clicking the entry containing the desired position with the 
left mouse button. 
Move the rows of a position list window: 
Place the mouse cursor onto the line separating the two rows in the title of the table and press the left mouse button. Keep the left 
button pressed, move the line to the desired position and release the button when you have reached the desired position. 
 
Pressing the right mouse button opens a context menu, which contains the following commands: 
See also 
Cut
Copy
Paste
Properties
Insert Position
Accept Position
World->Object coordinates
Object->World coordinates
Check Reachability
Show
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Dialog box Position List Entry
How to move and position the robot
How to place objects in the workcell
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Outputs 
he window outputs shows the states of the simulated robot-controller’s outputs. The actual states of the outputs are displayed next 
to their names. 0 
-signals are displayed in red, 1-signals are displayed in green. 
  A double click into this window opens the dialog box Set Outputs. 
See also 
 
Command Show Outputs
Window Inputs
Elements of the COSIMIR user interface
How to control inputs and outputs
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Inputs 
The window inputs shows the states of the simulated robot-controller’s inputs. The actual states of the inputs are displayed next to 
their names. 0 
-signals are displayed in red color, 1-signals are displayed in green color. The value of the input is displayed between brackets, e.g. 
[1], if the input is connected to an output. If the signal of the input is forced, the value of the input is displayed in angle brackets, 
e.g. <1>. 
 
   A double click into this window opens the dialog box Force Input Value. 
See also 
 
Command Show Inputs
Window Outputs
Elements of the COSIMIR user interface
How to control inputs and outputs
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window UserInput/Output 
The User Input/Output window opens automatically, if the robot program contains commands for reading and writing of data via the 
serial interface to and from the robot control. 
Because of the simulation of a robot control, the data is not sent physically via the serial interface, but it is sent to the User 
Input/Output window, where the data is displayed. 
If an input is expected, the cursor is located in the edit control at the bottom part of the window. If no input is expected, then the 
bottom part of the window is grayed and the cursor is located in the top part (output window) of the window. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Joint Coordinates 
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The window joint coordinates shows the positions of the single robot joints. The display unit for revolute joints is degree, for prismatic joints it is 
millimeter. 
  A double click into this window opens the dialog box Set Joint Coordinates. 
 
A click on the right mouse button activates a context menu with the commands: 
See also 
 
Copy
Set Joint Coordinates
Command Teach-In
Command Show Joint Coordinates
Window World Coordinates
How to move and position the robot
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window World Coordinates 
The window world coordinates displays the position and orientation of the Tool Center Points in world coordinates. The values and 
axes are presented in color. If you want to change the colors, use the command Coordinate Systems.../Settings in the Extras menu. 
In addition the position, the orientation and the configuration of the robot is displayed in the lowest line of the window. This line is 
missing, if the robot doesn’t support configurations. 
  A double-click on this window opens the dialog box Set World Coordinates. 
 
If you click the right mouse button, a context menu is opened, which provides the following commands: 
See Also 
Copy
Set World Coordinates
Command Teach-In, World Coordinates
Command Teach-In, Tool Coordinates
Command Show World Coordinates
Window Joint Coordinates
Configuration Right/Left
Configuration Above/Below
Configuration Flip/No-Flip
How to move the robot and set the position
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Joint Coordinates (Teach-In) 
The window Joint Coordinates (Teach-In) contains the names of the robot joints and two small buttons to move the individual joints 
of the robot. Thereby the reaction of a real robot is simulated. If you keep pushing the button, the robot accelerates up to the 
adjusted speed, keeps the speed steadily and then continuously decelerates to a speed of 0 after releasing the button. 
  A double-click on this window opens the dialog box Set Joint Coordinates. 
To move a joint into the positive direction: 
Push the right button of the corresponding joint and keep it pressed. The joint then starts to move slowly, until you release the right 
mouse button. 
 
To move a joint into the negative direction: 
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Push the left button of the corresponding joint and keep it pressed. The joint then starts to move slowly, until you release the left 
mouse button. 
Robot speed and acceleration 
To adjust the amount of permitted acceleration and the maximum speed, use the scrollbar located at the bottom of the window: 
 =   minimal speed and acceleration 
 = maximum speed and acceleration 
 
If you click the right mouse button, a context menu is opened which provides the following commands: 
See also 
 
Set Joint Coordinates
Set World Coordinates
Grip
Window Tool Coordinates (Teach-In)
Window World Coordinates (Teach-In)
How to move the robot and set the position
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window World Coordinates (Teach-In) 
The Window World Coordinates (Teach-In) shows a coordinate system. At the end of each axis there are located two pairs of buttons which let you change 
the position and orientation of the Tool Center Point. The related coordinate system is the base coordinate system. 
 
Attention: To move or to turn around an axis is only possible, if the robot has the necessary degree of freedom. As the reaction of a real robot is 
simulated, you may experience its workspace limitations by different error messages or warnings during the movement. If you keep pushing the button, 
the robot accelerates up to the adjusted speed, keeps the speed steadily and then decelerates down to a speed of 0 after releasing the button. 
Robot speed and acceleration 
To adjust the amount of the acceleration and the maximum speed, use the scrollbar visible at bottom of the window: 
 = minimal speed and acceleration 
 = maximum speed and acceleration 
 
If you click the right mouse button, a context menu is opened, which provides the following commands: 
See also 
Set Joint Coordinates
Set World Coordinates
Grip
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Window Tool Coordinates (Teach-In)
Window Joint Coordinates (Teach-In)
How to move the robot and set the position
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Tool Coordinates (Teach-In) 
The Window Tool Coordinates (Teach-In) displays a coordinate system. At the end of each axis there are located two pairs of 
buttons, with which you can change the position and orientation of the Tool Center Point. The related coordinate system is the tool 
coordinate system. 
 
Attention: To move or to turn around an axis is only possible, if the robot has the necessary degree of freedom. As the reaction of a 
real robot is simulated, you may experience its workspace limitations by different error messages or warnings during the movement. 
If you keep pushing the button, the robot accelerates up to the adjusted speed, keeps the speed steadily and then decelerates down 
to a speed of 0 after releasing the button. 
Robot speed and acceleration 
To adjust the amount of the acceleration and the maximum speed, use the scrollbar visible at the bottom of the window: 
 = minimal speed and acceleration 
 = maximum speed and acceleration 
 
If you click the right mouse button, a context menu is opened, which provides the following commands: 
See also 
 
Set Joint Coordinates
Set World Coordinates
Grip
Window Joint Coordinates (Teach-In)
Window World Coordinates (Teach-In)
How to move the robot and set the position
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Window Recorder 
This window is an optional component of COSIMIR. It is not available in all versions. 
 
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COSIMIR® · Operating 
  
Toolbar 
In the toolbar there are buttons for frequently used commands in COSIMIR. The individual buttons are activated or deactivated 
depending on the current situation. Deactivated buttons are grayed. Pressing a deactivated button doesn’t lead to a reaction. 
To get help for a button: 
 
Mouse: Move the mouse cursor over a button in the toolbar below. The shape of the mouse-cursor will change into a hand . 
Press the left mouse button to get information about this button. 
 
See also 
 
Command File New
Command File Open
Command File Save
Command File Save All
Command File File Properties
Command Edit Cut
Command Edit Copy
Command Edit Paste
Command Edit Renumber
Command Insert Position
Command Accept Position
Command File Print
Command View Rendering
Command View Move
Command View Rotate
Command View Zoom
Command Execute Compile
Command Execute Compile+Link
Command Execute Start
Command Execute Stop
Command Execute Approach Step
Command Execute Previous Step
Context Help
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Statusbar 
The statusbar is located at the bottom of the COSIMIRframe window and contains the following items: 
 
See also 
 
Statusbar Run Mode
Statusbar Simulation Time
Statusbar Clock
Statusbar Copyright
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
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Commands 
Choose the topic you want to know more about. 
Menu File 
New
Open
Close
Save
Save As
Save All
Import
Export
File Properties
Page Setup
Print
Printer Setup
Exit
1,2,3,4 Path
Menu Edit 
Undo
Reset Workcell
Cut
Copy
Paste
Delete
Properties
Select All
Find
Find again
Replace
Insert Position
Accept Position
Step Functions, Speed Override
Step Functions, Acceleration Override
Step Functions, Continuous Motion
Step Functions, Wait Time
Step Functions, Set Output
Step Functions, Poll Input
Step Functions, Subroutine
Step Functions Delete
Programming Wizard
Select Controller
  
Menu View 
New
Close
Standard, Default Setting
Standard, Front View
Standard, Rear View
Standard, Top View
Standard, Left Side View
Standard, Right Side View
Standard, Full Format
Look At
Move
Rotate
Zoom
Zoom-In
Zoom-Out
Rendering
Show Workspace
Show Kinematic skeleton
  
Menu Execute 
Restart
Reset Program
Waiting Position
Start
Stop
Start Cycle
Approach Step
Next Step
Previous Step
Compile+Link
Compile
Link
Simulation
  
Menu Extras 
Robot Position, Show Joint Coordinates
Robot Position, Show World Coordinates
Robot Position, Set Joint Coordinates
Robot Position, Set World Coordinates
In-/Outputs, Show Inputs
In-/Outputs, Show Outputs
Teach-In
TCP-Tracking
Coordinate Systems
Settings, Coordinate Systems
Settings, Object Selection
Settings, Grip
Settings, Floor
Settings, IRDATA-Interpreter
Settings, Compiler
Settings, Change View
Settings, TCP Offset
Settings, Simulation
Settings, Model Statistics
Disable DDE
Position List, Show
Position List, Check Reachability
Position List, Object->World Coordinates
Position List, World->Object Coordinates
  
Menu Window 
Cascade
Tile Vertical
Tile Horizontal
Arrange Icons
Close All
1,2,3,4 Path
  
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Menu Help 
Index
Search For Help On
Keyboard
Mouse
Commands
How To Use Help
About COSIMIR
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File New 
This command lets you create different types of robot programs and position lists. You can choose between a new SRPL robot 
program a new IRL robot program, a new MRL robot program and a new IRDATA program. Valid position lists are a position list and a 
MRL-position list. First you have to open a workcell. A workcell is stored in a file with the extension *.MOD. 
 
SRPL robot program (*.PGM): 
 
After you created a SRPL robot program you get an empty window. Guided by a menu system you can then create the SRPL robot 
program. The necessary commands are provided by the menu Edit or the context menu of the window. You can only load one SRPL 
robot program at the same time. 
 
IRL robot program (*.IRL): 
 
This command creates an empty IRL programming window. You can load an IRL program into this window or create your own IRL 
program. The IRL program is compiled to an IRDATA program which can be run by COSIMIR. Several IRL programming windows can be 
open at the same time. 
 
MRL robot program (*.MRL): 
 
This command creates an empty MRL programming window. You can load an MRL program into this window or create your own MRL 
program. The MRL program is compiled to a IRDATA program which can be run by COSIMIR. In addition the MRL program can be 
downloaded to a Mitsubishi robot controller. Several MRL programming windows can be open at the same time. 
 
Position list (*.PSL): 
 
After creating a new position list an empty window is created. Positions are added to the position list by moving the robot to the 
desired location. A position list contains positions in a COSIMIR specific format. Positions can be absolute or relative to other 
objects. 
 
MRL position list (*.POS): 
 
After creating a new position list an empty window is created. Positions are added to the position list by moving the robot at the 
desired location. A MRL position list contains positions in a MRL specific format. 
MELFA Basic Program (*.MBA): 
This command opens a empty MELFA Basic programm window. Here you can load or write a MELFA Basic program. This program is 
compiled into an IRDATA program, which can be executed and simulated in COSIMIR. It is additionally possible to download the 
MELFA Basic program into a Mitsubishi robot controller (series RV-EN). Multiple MELFA Basic windows are allowed to be open. 
BAPS-Program (*.BAP): 
This command opens a new BAPS program window. 
V+-Program (*.V2): 
This command opens a new V+ program window. 
Rapid-Program (*.PRG): 
This command opens a new Rapid program window. 
KRL-Programm (*.SRC): 
This command opens a new KRL program window. 
IRDATA-robot program (*.IRD): 
After creation of a new IRDATA robot program an empty IRDATA program window is opened. A IRDATA program can be loaded into 
this window, which will be automatically transfered to the robot control. This program can be executed in COSIMIR. It is only 
possible to have one open IRDATA window at a time. 
   This command shows the dialog box File/New. 
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Option 
You can also launch the command File/New by clicking the following symbol in the toolbar: 
 
See also 
 
Command Open
Command Save
Command Save As
Command Save All
Window SRPL robot program
Window robot program
Window position list
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Open 
This command opens an existing file that is, the file is loaded into memory and its contents is shown in a window. After being 
opened a file can for example be edited or printed. By choosing the file’s extension you choose the type of the file you are going to 
load which can be the following: 
Workcell (*. MOD): 
You can only load one workcell at the same time which however can be viewed in several windows. 
Robot program: 
SRPL robot program (*.PGM): This kind of program can be created with COSIMIR using a menu system. Only one SRPL robot program 
can be loaded at the same time. 
 
MRL robot program (*.MRL): High-level program to be used with Mitsubishi Movemaster robots. This kind of program can be created 
by COSIMIR, COSIPROG or your favorite text editor. You can open as many MRL programming windows as you like. Any previously 
loaded SRPL window is closed automatically. 
 
IRL robot program (*.IRL). This kind of program can be created by COSIMIR, COSIPROG or your favorite text editor. You can open as 
many IRL programming windows as you like. Any previously loaded SRPL window is closed automatically. 
MELFA Basic robot programm (*.MBA). This kind of program can be created by COSIMIR or your favorite text editor. Programs of this 
type are compiled to IRDATA program code, which can be simulated in COSIMIR. It is additionally possible to download the MELFA 
Basic program into a Mitsubishi robot controller (series RV-EN). Multiple MELFA Basic windows are allowed to be open. 
V+ robot program (*.V2). This kind of program can be created by COSIMIR, COSIPROG or your favorite text editor. You can open as 
many V+ programming windows as you like. Any previously loaded SRPL window is closed automatically. 
 
BAPS robot program (*.BAP): This kind of program can be created by COSIMIR, COSIPROG or your favorite text editor. You can open 
as many BAPS programming windows as you like. Any previously loaded SRPL window is closed automatically. 
 
IRDATA program (*.IRD): By launching the command Execute/Compile+Link programs written in IRL, MRL, V+, BAPS or another high-
level language are compiled into IRDATA code. COSIMIR does not interpret the source code of the high-level language but the IRDATA 
code. Only one IRDATA program can be open at the same time. 
Robot positionlist: 
Position list (*.PSL): Positions are added to the position list by moving the robot to the desired location. A position list contains 
positions in a COSIMIR specific format. Positions can be absolute or relative to other objects. 
MRL position list (*.POS): Positions are added to the position list by moving the robot at the desired location. A MRL position list 
contains positions in a MRL specific format. 
  This command shows the dialog box File/Open. 
Option 
You can also launch the command File/Open by clicking the following symbol in the toolbar: 
 
Keyboard: CTRL+O. 
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See also 
 
Command New
Command Save
Command Save As
Command Save All
SRPL program window
IRDATA program window
IRL/MRL/BAPS/V+ programming window
Window position list
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Close 
This command closes the window corresponding to the currently active file. If this file has been altered a dialog box is shown which 
lets you save it. 
How to close a window: 
 
Mouse:  Click at the window and activate the command Close in the File menu. 
    or 
      Click at the system menu box and launch the command Close. 
    or 
        Double-click at the window’s title bar. 
 
Keyboard: Press the ALT+D then the key L (for Close). 
    or 
    Press CTRL+F4. 
If you close the last window containing a workcell by the command File/Close all corresponding windows are closed as well and the 
workcell is unloaded. 
See also 
 
Command New
Command Open
Command Save
Command Save As
Command Save All
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Save 
Stores the data belonging to the active window. This command is only available if the currently active window contains a robot 
program, a position list or shows a workcell. 
This command lets you save modifications to a file which already exists. 
 
 If the file does not yet exist the dialog box Save As as is shown. 
Together with a workcell the current window configuration, the I/O names, the I/O channel connections and some other values are 
stored. 
Option 
You can also launch the command File/Save by clicking the following symbol in the toolbar: 
See also 
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Command New
Command Open
Command Save As
Command Save All
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Save As 
Stores the file corresponding to the active window with a new name. This menu item is only available if the active window contains 
a robot program (*.PGM, *.IRL, *.MRL, *.V2, *.BAP), a position list (*.PSL), a MRL position list (*.POS) or shows a workcell(*.MOD). 
 
  This command launches the dialog box File Save As. 
When saving a workcell the current window configuration the I/O names and connections some other values are stored as well. 
See also 
 
Command New
Command Open
Command Save
Command Save All
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Save All 
Stores all files corresponding any open window. This menu item is only available if at least one window contains a robot program
(*.PGM, *.IRL, *.MRL, *.V2, *.BAP), a position list (*.PSL), a MRL position list (*.POS) or shows a workcell(*.MOD). 
 
Option 
You can also launch the command File Save All by clicking the following symbol in the toolbar: 
 
See also 
 
Command Save
Command Save As
Command Save All
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command Import 
  Use this command to import CAD data from a file into the currently loaded workcell. This command opens the dialog box File Open, which will 
enable you to select a file for import. Different CAD formats (e.g. STL, VDAFS, IGES, ...) as well as the workcell format (*.MOD) will be available.
  This command is only available in certain versions of COSIMIR. The available file formats depend upon the installed import filters. 
See also 
 
Command Export
Command File Open
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©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Export 
  Use this command to export the currently selected objects into a file. This command opens the dialog box File Save As. You 
can save the selected objects in the workcell format (*.MOD) as well as in different CAD formats. 
  This command command is only available in certain versions of COSIMIR. The available file formats depend upon the installed 
export filters. 
See also 
 
Command Import
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Properties 
Use this command to get further information on the active window. 
This menu item is only available if the active window contains a robot program (*.PGM, *.IRL, *.MRL, *.V2, *.BAP), a position list 
(*.PSL), a MRL position list (*.POS) or shows a workcell(*.MOD). 
  This command command is only available in certain versions of COSIMIR. 
 
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Page setup 
This command lets you define the margins of the current print layout. 
  This command launches the dialog box Page Setup 
See also 
 
Command Printer Setup
Command Print
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Print 
This command lets you print the contents of the current window. It is available only if the active window contains a robot program 
or a position list or shows a workcell. 
  This command launches the dialog box Print. 
If the active window shows a workcell-window, the active view of the workcell is printed. When using a non-color printer colors are 
replaced by gray levels. Note that different colors may be substituted by the same gray level (e.g., a dark green and a medium red). 
If the active window contains a position list the complete position list will be printed. With every entry in the list the following 
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items will be printed: 
If the active window contains a robot program the entire program will be printed. 
The command Page Setup lets you define the page margins. If the top margin equals at least three lines the file name is printed in 
the header section. 
Option 
You can also launch the command File/Print by clicking the following symbol in the toolbar: 
 
See also 
 
the position’s name, 
the absolute position and orientation values with respect to the world coordinate system,
the joint angle values, 
the relative position and orientation values with respect to another object (optional),
the object which acts as the base coordinate system for the relative position and orientation values (optional).
Command Printer Setup
Command Page Setup
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Print setup 
Lets you choose a printer from the set of printers you installed with windows and lets you choose some print options. 
  This command launches the dialog box Printer Setup. 
See also 
 
Command Page Setup
Command Print
©·2002·EFR·IRF·GERMANY 
  
COSIMIR® · Operating 
  
Command File Exit 
This command closes all windows and shuts down the program. Current settings are stored to the configuration file "COSIMIR.INI" in the windows directory. 
This command has the same effect as the command Close in the system menu. 
If a workcell is loaded (i.e. if a workcell window exists) the cell’s settings (e.g., I/O names and connections) are stored to a file named <cell>.INI in that 
directory which also contains the workcell’s file <cell>.MOD. To prevent this choose the command Close All from the Window menu before you exit 
COSIMIR. 
How to shut down the program with the command Exit: 
Double click to the system menu symbol or once in the upper right edge of the program window 
or: 
Click to the system menu symbol