ROBOTICS · part of the Robotics & Industrial Automation Simulator

Robotic Arm Simulator

A live 3D digital twin of the Fairino FR5 six-axis collaborative robot. Move it joint by joint or by its tool, teach points by dragging the arm, write programs graphically or in Lua, and run them in real production cells — safely, on an ordinary PC.

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Version 0.3.1

Robotics & Industrial Automation Simulator

The robot arm with a MIG welding torch in the welding cell — The MIG welding cell: two fillet seams on a T-joint at a 45° work angle.

6axes, real URDF joint limits

2ways to program: Graphical + Lua 5.4

4production cells + studio floor

9ready example programs

7named reference poses

What you can do

Manual control

Joint Jog with a slider per axis, Cartesian (TCP) jog in X, Y, Z and rotation, and inverse kinematics that keeps the solution nearest the current pose.

Teach points

Record positions with one key (R), preview and re-teach them, or switch on Drag Teach and move the arm with the mouse in the 3D view.

Program graphically

Build programs from a command list: PTP, LIN, MoveJ, MoveL, Home, named poses, loops, conditions, waits and I/O — no typing.

Program in Lua

The same program as code, with Fairino-style commands, syntax check, examples and import/export of .lua files.

Production cells

Palletizing, MIG welding, CNC machine tending and a two-conveyor production line, each with its own signals and a ready program.

Safety & I/O

Workspace box, joint soft limits, speed limits and floor clearance stop unsafe moves; a virtual control box with DI/DO, CI/CO and tool I/O.

Production cells

Four production cells, ready to run

Palletizing

Cartons arrive on the infeed conveyor and are stacked on a pallet in two layers of four.

Signals: DI1 carton ready · DI2 pallet full

MIG Welding

A MIG torch welds two fillet seams on a T-joint at a 45° work angle.

Signals: DI1 clamped · DO2 arc on · DI3 arc established · DO3 unload

Machine Tending (CNC)

The robot loads a CNC cutting table, starts the cycle and unloads the finished part.

Signals: DI1 blank ready · DO1 cycle start · DI2 cycle done

Production Line

Parts stop at a photo-eye, the gripper picks each part and places it on the outfeed conveyor.

Signals: DI1 part at pick position · tool DO0 gripper · tool DI0 grip sensor

Programming

Program it graphically or in Lua

Graphical mode: pick a command, fill in its fields, press Add. Double-click a line to run only that line.

Coding mode: the same program in Lua 5.4 with a built-in command reference.

Main commands

Command: What it does
PTP(point, speed%): Joint move to a taught point
Lin(point, mm/s): Straight-line move to a taught point
MoveJ(j1 … j6): Joint move to angles
MoveL(x, y, z, rx, ry, rz): Straight-line move to a pose
MoveHome() · MovePose(name): Home or a named pose (safe route in a cell)
SetDO · WaitDI · SetToolDO · WaitToolDI: Control-box and tool I/O
WaitMs · Pause · print: Timing, hold and console output

Example · Lua

SetSpeed(30)
MoveHome()
for _ = 1, 2 do
  MoveL(497, -102.1, 377, 180, 0, -90)
  WaitMs(300)
  MoveL(597, -102.1, 377, 180, 0, -90)
end
print("Cycle complete")

Screenshots

A closer look

Real screens from version 0.3.1. Click a screenshot to enlarge it.

Joint Jog: a slider and value for each axis inside the URDF limits.

TCP / Cartesian: target pose, jog buttons and inverse kinematics.

Lua programming with syntax check and examples.

Safety settings: workspace box, soft limits, speed limits, floor clearance.

The virtual control box: DI/DO, configurable CI/CO and tool I/O.

Works with the PLC Complete license

Works with the PLC

With the Complete license a PLC starts, pauses and supervises the robot through the same I/O handshake used on real lines. The robot–PLC link is not part of the Robotic license on its own.

See the PLC Controllers →