COSIMIR is an educational simulation software that can be used to simulate various robotic workcells. It runs on Windows 95/98, Windows NT, and Windows 2000 using OpenGL graphics. The documentation provides instructions on installation, starting the software, tips for optimal rendering performance, and notes on problems that may occur with rendering or robot program size limitations.

1. ________________________________________________________
COSIMIR EDUCATIONAL README FILE 10/2000
(C) Copyright 2000 - EFR - IRF - GERMANY
All rights reserved.
________________________________________________________
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C O N T E N T
- Installation
- Miscellaneous
==============================================================
Installation
============
Setup
=====
1. Use the "SETUP" program from the CD to install COSIMIR Educational.
2. To deinstall COSIMIR use the "Control Panel" applet "Add/Remove Programs"
under Windows 95/98 and Windows NT 4.0 / Windows 2000.
First Steps
===========
When starting this EDUCATIONAL version a help page is opened, which gives an
outline of the
workcell models loadable with this EDUCATIONAL version. From this page the
individual models
can be loaded by clicking on the picture or the folder symbol.
If you closed this help page page, you can reopen it any time again
by using the menu item "Help / Workcells of COSIMIR Educational".
See the important "Special Note" on this starting page to handle the download
dialog as
well as problems if having NULLSOFT WinAmp installed.
During installation a link to the COSIMIR online help is created in the
start/programs
menu. Use this to get further information on working with COSIMIR.
Rendering under Windows 95/98
=============================
1. COSIMIR runs on Windows 95/98 and uses OpenGL. The required DLLs will be
installed
by the Setup program.
2. To get maximum display speed in the workcell windows take care of the
following hints:
2.1 Avoid High-color (32768 or 65536 colors) display modes. The preferred
color
depth is 256 colors; even TRUE color (24 bit or 32 bit) is faster than
High-color.
2.2 The larger the workcell windows, the slower the rendering speed.
2.3 In a large workcell window the rendering speed can be significantly
reduced
by a filled floor.
Rendering under Windows NT/ Windows 2000
========================================
1. COSIMIR is using OpenGL, that is part of Windows NT, on Windows NT, too.
This OpenGL implementation uses the 3D acceleration capabilities of quite a

2. lot
graphics boards like the
- Elsa Erazor, all versions
- Elsa Gloria, Elsa Winner 2000/Office
- Diamond FireGL 1000 (pro), 2000, 3000, 4000
Problems with Rendering of Workcell Windows
===========================================
The 32 bit versions of COSIMIR employ OpenGL for graphical display of
workcells.
The OpenGL implementations delivered with some operating systems (Windows 98,
Windows NT 4.0 Service Pack 2 or higher) are faulty and will not work
correctly with COSIMIR. In this case the workcells will be rendered with
wrong or
very dark colors.
This fault will not be obvious, if graphics boards with an ICD OpenGL driver
(e.g.
Diamond FireGL 1000pro, ELSA Gloria, ELSA Winner 2000/Office) are used.
The update "InstallOpenGlAndCTL3D.exe" will replace the OpenGL-DLL in the
windows system directory
by a new one from Microsoft. This replacement does not work on Windows 2000.
Miscellaneous
=============
1. You can not edit or load robot programs (IRL, MRL, MELFA Basic,...) that are
larger
than 64 kBytes under Windows 95/98 due to a limitation in Windows 95/98.
This limitation does not exist for COSIMIR under Windows NT and Windows 2000!