U S E R P A N E L

User Panel 4
User Panel provides an easy way for interacting with
EASY-ROB™. It contains functions for manipulating with Robot,
Tool, Bodies, program for simulation etc. All functions in EASY-
ROB™ are grouped in 8 menus. You may activate some
functions from toolbars, as well as through the program for
robot simulation. Generally, you can activate one command in
four ways via Menu, Toolbar, Ctrl + Key and ERCL. This
Chapter will also introduce you about the Mouse Mode
(changing world view with mouse, jogging robot and its
components with mouse etc.), Online output data, CAD
Preview, variety of ON/OFF functions, predefined views, TCP
Trace etc.
For more information about ERCL (Easy-Rob Command Line)
see “Easy-Rob Command Line ERCL”. The Chapter 10 shows
you all available toolbars in EASY-ROB™.

Overview of menus

1. Menu File
EASY-ROB contains menus with specific functions. Menu File
contains commands for loading, saving, editing, unloading
EASY-ROB™ files, as well as command for quitting and
selecting preferred directory. Choosing command from Load or
Save of the menu File, File Dialog box appears. With it, you can
load or save a file. The picture below shows menu file and File
dialog box.

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This dialog prompts the user to load a workcell file

For more information about loading, saving, editing or deleting

EASY-ROB™ Files, see Chapter 3 “ EASY-ROB™ Files”.

Choosing Select Preferred Directories command you can set

a directory for Working and 3D CAD directory. When you
activate the command for working directory, Selection Dialog
Box appears.

Double click on the path in the

List control of Dialog box.
Next time when you load or
save a file the List of File
Dialog Box contains contents
of selected preferred directory.

If you activate the command for 3D CAD directory you will have
the same situation.
Choosing Exit from File menu or Close from the System menu
closes the application. The System menu can be activated by
clicking with the left mouse button on the main Icon (Top
Left corner of the Application), or clicking on the Icon (Top
Right corner of the Application).

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2. Menu Robotics
With Robotics menu you can manipulate with the Robot data.
The picture below shows Robotics menu.

Robotics menu groups

commands for Kinematics,
Dynamics of Robot, as well as
Motion planner. With Robotics
menu you can easily make robot
program (Teach Window) or
create a new Robot.

The first command of Robotics menu is for setting position and

orientation of TCP (Tool Center Point) Coordinate system. TCP
is a point of the last coordinate system of Robot-Tool coordinate
frame. When the Robot needs to reach a position of the Space,
Inverse kinematics problem is calculated with transformation of
Tool frame to Base coordinate frame. This way you get the
position and orientation for each joint coordinate frame of the
Robot. The picture below shows Tool Data Dialog Box, and
TCP Coordinate System for Robot Amtec.

The Dialog Box contains six variables: three translations and

three rotations around X, Y and Z-axis.

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If you want to change the position and/or orientation of TCP

Coordinates system, double click on axes or rotation you want
to change for getting the Focus. Enter the value and choose the
Ok button.

Robot Kinematics submenu contains functions for setting

kinematics components of a loaded Robot. The picture below
shows Kinemics Data Dialog Box.

With Robot Kinematics submenu

you are setting all kinematics
parameters of Robot and its
components-joints or base
position.

The List box contains

The first line of Dialog shows
kinematics type of Robot Type
RRR:RRR with 6 revolute joints.
values for current length
of robot Links.
Notation: Vector ’l1’ =
[l1x,l1y,l1z] is the
distance from the 1st
joint to the 2nd joint. The
RRR:RRR type os
completely parameter-
ized, thus the inverse
kinematics solution is
always available.

If you want to change the length of a link, double click on the

axis for getting the focus, enter the value and click OK button.

Note: If you are changing the length of desired Links, enter a

value in the specified range. Enable the yellow colored robot
joint coorsys from the On-Off Toolbar to see where each joint is
located. The robot 3D geometries are always with respect to the
joint axis, represented by these yellow coorsys. Green colored
coorsys denote passive joints.

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The picture below shows Robot Attributes Dialog Box. With

the Dialog Box you can specify following kinematics and
dynamics attributes:

Robot name
Robot zero position (Home position)
Robot SW – travel range
Robot SW + travel range
Robot joint signs
Offset of Robot Joints
Singularity Tool
Speeds of the Robot joints
Accelerations of the Robot joints
Torques of the Robot joints

By double-clicking on each attribute a new Dialog Box appears,

used for entering values for the specified attribute.

When entering values, you must be careful with the values

range, which is predefined. Instead of the values, you can also
enter a math expression, and EASY-ROB™ will calculate a
value for you.

Math expression can

contain any standard
math function
(Trigonometry,
Logarithms etc.), and
start always with an
equal '=' sign.

The format of such an expression may be:

=0.01*asin(sin(45*rad()))*deg()

For more information about algebraic function see

“EASY-ROB Command Language ERCL”.

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Robot Base Pose submenu is used for setting Base Position of

Robot with respect to World coordinate system. The picture
below shows Base Pose Dialog Box.

Double click on the axis

you want to change or
on the rotation around
axis. Enter a value and
press the button Ok, and
the robot will move in a
specified position and
orientation.

Robot Dynamics submenu contains functions for setting

dynamics components of loaded Robot.

With Robot Dynamics

submenu you are setting
dynamics parameters of Robot
and its components-joints.
Attributes, Control Data, Model
Data, and Load Used defined
control data and model.

Robot Ctrl Data submenu allows you to specify Control Data

for each loaded Robots Joint - Position Controller. The picture
below shows the Control Data Dialog Box.

Double click on an Item,

to specify values for each
Joint, or double click on
quit to back in Render
Scene. For more
information see
Chapter 1
”INTRODUCTION”.

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Robot Model Data allows you to specify values for dynamics

model of loaded Robot.

Dynamics Model data

Transfer functions in s- and z-plane
G(s) = (1/D) / (Ts+1) in s-plane
G(z) = (vz1_v/N) * (1-vz1_a)*z /
(1-vz1_a*z) = v(z) / u(z) in z-plane
u(z) control signal uc[]
v(z) joint speed v_dyn[]
includes for each joint
respectively: Gear Ratio
N, time constant T_Base
for a simplified time-lag
device of first order,
mass Inertia, Fiscous
Friction 'D-Damping'.
Values vz1_v and vz1_a
are model parameter in
the z-plane in
dependence on the
System Step of the
model.

These parameters are very important if you want to make

dynamics model. After every modifying value, the Message box
appears for confirmation. By enabling Dynamics while running
animation, you get the dynamics and kinematics simulation of a
robot.

With Robot Ctrl Code Data API-DYN, and Robot Ctrl Code
Model API-DYN, user can develop his own function written in C
programming language for dynamic model of Robot, or motion
controller. For more information see Chapter 9 “Application
programming Interface API”.

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Robot Motion Planner submenu contains functions for setting

motion planner components of loaded Robot, such as joint and
cartesian speed and accelaration, lead and lag time, override,
etc.

The submenu allows you to

develop your own motion types.
Function 2,3,4 allows you to load
built-in EASY-ROB™ motion
modules as well as user-defined
function.

Ipo Data function allows you to specify variety values for robot
motion. The picture below shows you the Ipo Data Dialog Box.

In Ipo Data Dialog Box

you can specify the
following values:
Ipo step time, Joint
speed, Joint end speed,
Cartesian speed, Joint
acceleration, Cartesian
acceleration, Override,
Lead-time and
Lag time. You must take care of the range for each item.

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Robot Program submenu contains functions for setting

program for simulation. You can load, or edit loaded program,
run the program as well as open Teach Window, and program
output.

The submenu Mimic file

allows you to manipulate
(Load, Save and Unload)
with mimic file. For more
information about Robot
program see Chapter 5
“Robot Programming and
Simulation”.

Create New Robot submenu allows you to create a new robot

in different ways. You can create standard Robot structure
RRR-RRR (six revolute joints), RRR-RRR Back Link, TTT-RRR
each with 6 DOF (Degrees Of Freedom), as well as two non
standard robot types, which is described with Universal
Coordinates and with Denavit Hartenberg Notation, up to 12
DOF.
For more information about Creating new Robots see Chapter 8
”Robots Kinematics”. The picture below shows Create new
Robot submenu.

You can also create the

Default Robot bodies

Robot Application is for visualization mechanical systems,

such as the NC machines. This menu is designated for
individual customer solutions.

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3. Menu Simulate
Menu Simulate allows you to handle with simulation of loaded
Robot. Wit this menu you can handle with moving the Robot to
variety position (Home, Joint, Cartesian position), program of
the Robot, set the type of animation, save or reset all robot
position. You can also increase or decrease step for simulation
etc.

The picture below shows the Simulate menu and Move To

submenu.

The Move to submenu allows you

to move the Robot to variety
destination.

Activating the Homeposition function, Robot is moved in "zero"

position. This causes that each joint moves to its homeposition
in synchronized PTP motion type. The Homeposition can be
defined from the Robotics Menu:

• Robot Kinematics-> Robot Attributes

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Moving the Robot to Tag position a Dialog Box like on the

picture below appears.

1 - Move to current Tag

is to move the Robot to the
current Tag point.

2 - Move Along all Tags

With the Dialog Box you can
choose which Tag the Robot
needs to reach. Before the
robot motion starts, you will
asked wether the move is
interpolated in PTP (Point to
Point) or LIN (Linear/Straight
line) mode.
Note: Open the TagWindow
Dialog for a more detailled
overview about all available
Tags in the Workcell.
is for moving the Robot to all
Tags, starting from the first
until the last one.
3 - Move to one Tag #
Moving the Robot to Tag,
which you can choose by
Dialog Box for selecting
desired Tag.
4 - Move from Tag # to Tag #
is for moving the robot from a
starting tag number to an
ending tag number.

Choosing any of options, first you have to specify type of motion

(PTP – Point to Point, LIN Linear motion, CIRC Circular
motion), which is provided with new Dialog Box. For more
information about Tags, see Chapter 7 “Tag Points”.

You can move the Robot by specifying the Joint position (Direct
Kinematics problem). Choosing the Joint position option, dialog
box like on the picture below appears.

Double click on the Joint

you want to specify and
enter the values. Press Ok
button. The loaded Robot is
reaching specified joint
position.

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On the similar way you can move Robot to Cartesian position.

Circ. Pose allows you to move the Robot Circularly in target
position with respect to Cartesian coordinate system. The same
procedure is for Delta Circular Position.

Submenu Program’s contains functions, which handle with

program of the Robot. Run, Stop, Continue and Abort program
are functions for animation. Program output shows executed
programs command during animation. With Teach Window you
can make new program or modifying loaded program file. For
more information about Teach Window see Chapter 5 “Robot
Programming and Simulation”. The picture below shows the
submenu Program’s.

As you can see, you can

find these commands in
the Run Animation
Toolbar. For more
information see Chapter
10 “Toolbars”.

With Run Settings submenu, you can set type of Simulation.

The picture below shows contents of Run Settings submenu.

With Stop on function you can set,

when simulation needs to stop.
With Dialog Box Stop on, you can
enable that simulation stop with
Limit Switch, Speed and
acceleration exceeded or collision.
The last option of submenu is
Reset all positions in the program.

Activating Online Output Data you can view various Robot

output parameters. The picture below shows the Window
Online output Data.

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Button Nxt and New helps you to

navigate with values. Button New
creates the new output Window.
Combo Box allows you to choose
the appropriate group of values.

Reset and Save submenu allow you to reset or save various

data, such as robot joint and -base position, robot tool, etc..
The rest of functions in the in the Simulate Menu allow you to
set step size of animation, enabling or disabling Collision,
Dynamics and/or Robot Trace.

The Picture below shows the Simulation Data Dialog Box. With
this Dialog you can specify the values for Simulation step size,
Ipo step size, Control step, System step Delta Step in meters or
radians.

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Double click on the item to

get the focus for entering
the value. Be careful on
value range.

4. Menu 3D CAD
3D CAD menu is used for modeling with EASY-ROB™. With it
you can create, select, change attributes of 3D bodies. Each
body you create has an unique identification name. With the
name you can select 3D body in space. You can also cloning
(copying) a 3D body, as well as manipulate with 3D CAD
Coordinate system. The picture bellow shows the 3D CAD
menu and Attributes submenu.

Submenu Attributes gives you ability to render 3D body in all

available model (Points-Vertices, Wire frame, Bounded Boxes
FLAT and WIRE, Invisible and FLAT and WIRE), invert
polygon, Checking body for collision and Information about
CAD in EASY-ROB™.

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For more information about 3D CAD see Chapter 6 “3D CAD"

The picture below shows detailled Information about the current

selected 3D CAD Geometry (short key: Ctrl+I). For detailled
Information about the geometry loaded in the CAD Preview use
the short key Ctrl+Shift+I.

3D CAD Info
Window.

5. Menu Tags
Tag menu manipulates with Tags. With it you can create,
delete, modify, translate, rotate the tags, change the tag
attributes etc. The picture bellow shows Tag menu and Tag
Window. Tag Window allows you to manipulate with tags in a
very easy way. For more information about Tag Window see
Chapter 7 “Tag Points”. ('cTag' is the current selected Tag)

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On the similar way such in3D CAD, the Tag menu allows you to
clone (copy) tag. Move to Tag Pose moves the loaded Robot
to a Tag. Move to current Tag Pose moves the Robot to the
current selected Tag point.

For more information about Tags see Chapter 7 “Tag Points”

6. Menu View
Menu View allows you to manipulate with the Render Scene
View. The picture below shows the Menu View.

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The first submenu Set 3D Views

allows you to set the predefined
standard views (Top, Rear,
Bottom, Front, Left, Right),
orthographic view (Views in
Ortho), Simulation View or 3D
CAD Preview. Render submenu
allows you to enable or disable
the Light for the Render Scene
and Robots view in different
models (Wire frame, points
(vertices), bounded boxes) and
backface culling.

Floor submenu handles with the view of the floor.

The TCP Trace manipulates with Trace of Robot. You can
change color, type, length and size of a trace. You can also
enable or disable visibility of the Trace.
Coorsys allows you to enable visibility of the various coordinate
system (Tag, Robot TCP, Robot Joint Coorsys).
Display submenu shows or hides Robot, Tool and/or bodies in
the Render scene.

The picture below shows the Dialog Box for setting the
Graphics View Data.

By editing the Environment

file (*.env) you can modify
these values. Double click
on an Item for entering new
value.

The Message Window shows miscellaneous messages, while

loading a new workcell for example. All message are also

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saved in the monitoring file moni_msg.txt. The picture below

shows the Message window after loading a workcell.

Button Clear clears the contents of the MessageWindow.

Button Close destroys the window.

7. Menu Aux
With this menu you can easily manipulate with mouse mode,
view the current settings or lunch command prompt (MS DOS©
mode). The picture below shows the contents of Aux menu and
Mouse Mode submenu.

For more information about Mouse Mode see Topic “Mouse

Mode” in this Chapter.

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Submenu Show current Settings shows you Dialog Box,

which contains general settings in which you are working. The
picture below shows the Current Settings Dialog Box. The
Dialog shows you quick overview about your EASY-ROB™
selected environment. The picture below shows mentioned
Dialog Box.

Each Item you can

modify by choosing
appropriate command.

With Cmd Prompt submenu you can lunch directly MS DOS©

mode from EASY-ROB™, without to choose standard Windows
command from Start->Programs option.

8. Menu Help
Menu Help allows you to find help information as well as
information about Application and License. You can also find
information about Credits. The picture below shows the
contents of the Help Menu.

Choosing Basic Help

submenu you can get quick
overview about EASY-ROB™
3D Simulation Tool.

License Info will show you the actual EASY-ROB™ Version, as

well as enabled and disabled options and the Hardware
Number, which should correspond to your unique License Key.

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The Hardware Number is also saved in file

HardwareNumber.dat

Online Output Data

While simulation EASY-ROB™ can gives you all necessarily
run time information. The informations are placed in the Robot
Input-Output (IO) Window. In each time segment, Robot IO
gives you information about the following:

• Desired Joint Values in meters or degrees.

• Desired Cartesian Position in meters or degrees.
• Current Motion data
• Actual Joint Values in degrees or meters.
• Actual Cartesian position in meters or degrees.
• Joint Errors in meters or degrees.
• Cartesian position Errors in meters or degrees.
• Desired Joint Speed in degrees or meters per second.
• Actual Joint Speed in degrees or meters per second.
• Desired Joint Acceleration in deg or m/s2.
• Actual Joint Acceleration in deg or m/s2.
• Joint Speed Errors in degrees or meters per second.
• Control signal uc as out from the cascade
PPI - position controller
• Control Integrated uic, signal from the integral part
from the cascade PPI - position controller
• Desired Cartesian Coordinates from 4x4
homogeneous transformation matrix.
• User defined Vector, for the API, allows the user to
display own calculated data.

You can also open more than one Window of Robot IO by

pressing the New button. After that, move the Window with
mouse in desired corner of the Render Scene. On this way you
are able for monitoring more than one desired value of the
Simulation. The Picture on the next page shows the Robot IO
Window, and contents of Combo Box, which is placed the
names of the IO Values. Combo Box allows you to choose the
appropriate IO group.

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Nxt button helps you to go on the next Item in the group. Check
Box No Function allows you to disable some IO values, and
Quaternion groups for variables in the selected group.

The Picture above shows Robot IO with selected current Motion

data group. This group contains all available motion data, which
is determined in loaded Program. On this way, you can view
which parameters loaded Robot program contains. The state of
this parameter you can also change in run-time.

CAD Preview
EASY-ROB™ is powerful application giving you also ability for
working in Simulation View and CAD preview simultaneously.
This means that you can model and simulate in the same time.
Switch between Modeling and Simulation is via button or
pressing Ctrl+Tab, or via View->Set 3D View menu.

Load the Cell file by choosing File-Load->Cell file. The

File Dialog Box appears. Select Amtec.cel file and choose Ok
button.
After that Load the CAD files for example IGRIP Part file by
choosing File-Load->Igrip Part file, or grag and drop
a CAD file from the explorer.

If you want to switch in Simulation view press , press again

the same button and you will be in CAD preview. If you choose
a command, which belongs to simulation, EASY-ROB™ is
automatically switching in Simulation View. For example, if you
are in CAD Preview press Run for animation and EASY-ROB™

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will be switch in Simulation Preview. For more information about

modeling see Chapter 7 “3D CAD”.

Graphic View Data

With graphic view data you can specify the Viewing Volume and
type of Floor. The picture bellow shows the Graphic view data
Dialog Box.

As you can see, you can

specify View steps, Hither,
Yonder, floor length and floor
delta length.

Floor length and delta floor length determine dimension of the

robot floor. Change the dimensions attributes of the floor if your
dimension of the Robot is non-proportional with the dimensions
of the floor. By specifying the dimensions of the floor you get
the realistic simulation.

The picture bellow shows the graphical interpretation of the

Hither and Yonder.

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As you can see, the Hither represents distance between

Viewing Point (eye) and the near plane. The Yonder represents
the distance between Viewing Point and the far plane.

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TCP Trace
While running simulation of the Robot you can enable
command for defining trajectory of the Robot Tool – TCP Trace.
By choosing View -> TCP Trace you can activate the
following commands and subcommands:

• Show Robot Trace – Shows or hides the Trace.

• Track Type – Specifies type of trace
o Line – Line trace
o Point – point trace
o Line + Z direction – line trace with parallel
lines in Z direction
o Z Direction – Trace with lines in Z direction.
o X Direction – Trace with lines in X direction.
o Y Direction – Trace with lines in Y direction.
• Track Color
o Color – specifies the color of trace.
o Color for Dynamics – Specifies the color of
dynamics trace.
• Track length and Size – Specifies length and size of
the trace.
o Trace Line Thickness – specifies the
thickness of the trace.
o Approach length – Specifies approach length
of the trace.
o Trace point size – defines the size of trace
points.

The picture bellow shows submenu TCP with Track type,Track

length and Size options.

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On / Off
On / Off is syntax for EASY-ROB™ commands which have two
states: ON and OFF. These commands have also 0 and 1 value
(for example in the environment file Floor ON=1 and OFF=0).
On / Off commands are placed in the On / Off Toolbar. The On /
Off commands include:

• Robot
• Tool
• Body
• Robot Coordinate system
• TCP Coordinate system
• Tag Coordinate system
• Dynamics
• Trace
• Stop On
• Collision

While simulation you can enable or disable these variables.

Robot, Tool and Body variables hide or show Robot body,
Robot Tool and Body (Environment) respectively. These
commands allow you to see simulation without a Robot body,
Tool and/or bodies of environment. The next three commands
show or hide Coordinate Systems of Robot, Tool and/or Bodies
of environment.
While simulation you can enable Dynamics parameters. Then,
in the Render scene you can see two Traces, trace for
kinematics and dynamics. By setting a different color for these
traces you will have a high quality of simulation. You can also
enable the Collision, and Robot will detect any touch with itself
or environment bodies. You can set the collision by Stop On.
Stop on allows you that Robot stops on Limit Switch, Speed and
acceleration exceeded or collision. By enabling or disabling On /
OFF commands, you can make the simulation just you need.
Any On / Off commands you can set in the Robot Program, by
entering directly in file or by Teach Window. Teach Window
provides easy way for automatically entering commands via
dialog box.

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Mouse Mode
The Picture bellow shows the contents of Mouse Mode
submenu of the Aux menu.

By default mouse mode is

in World View. This
command provides you to
navigate through the
Render scene. While
moving the Mouse and
holding the Left mouse
button down, you can
rotate the Render scene.
The same situation is when
it is down the Right mouse
button. Then you are
zooming the Render
scene. Pressing the both
the Left and the Right
mouse button down you
are translating the Render
scene.

The second Mouse mode is TCP Tool. With it you can navigate
the robot and its joint in respect with the Tool coordinate frame.
You can translate the Robot when the Rot | Trans of the Mouse
Mode submenu is unchecked. Otherwise you rotate the Robot
around X or Y or Z axis. While the left mouse button is down,
you rotate around the X axis. With the Right mouse button you
rotate around Y axis, and by pressing the both the left and the
right button you rotate the Robot around Z axis. Use the TCP
World Mouse mode and you will have the same situation, now
with respect to the TCP World coordinate system. The axes of
the World Tool coordinate frame are parallel with the Base
coordinate frame, since the Tool coordinate frame depends of
the current position and orientation of the Robot Tool. The
picture bellow shows the Robot with Tool coordinate frame and

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 U S E R P A N E L

World coordinate frame. As picture shows the World coordinate

frame is congruent with the Base coordinate frame.

TCP Tool Coordinate frame TCP World Coordinate frame

By double click on the TCP Tool or TCP World, you’ll get the
same Dialog Box for specifying manually position and rotation of
the coordinate frame. The picture bellow shows that Dialog Box.

When you specify the delta

position and/or orientation,
the Robot moves with respect
to the coordinate frame in
determined position and /or
orientation.

Joint mouse mode allows you to move the robot with respect
to selected joint coordinate frame. Double click on an Icon and
you’ll get the dialog box for selected joint coordinate frame. You
can also select the Tool TCP coordinate frame or TCP World
coordinate frame. The dialog box allows you to enter the
command of ERPL (EASY-ROB™ Programming Language), or
ERCL (EASY-ROB™ Command Line). You can also enable
collision. Check The Rotate radio button if you want to rotate
the robot, otherwise you will translate the Robot. Dialog Box

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allows you to select the group of three joints: 1-3, 4-6,7-9 and
10-12. If you selected the 4-6 joint and enabled Rotation with
the Left mouse button you rotate the Robot around 4th joint, with
the right around 5th joint, and with the both the Left and the
th
Right you rotate the Robot around the 6 joint.

You can also enter a command

for jogging the Robot. Enter the
command and press the Run
Button to execute the command.
+ and – allow you to enter or
delete the command
respectively. SWE stops the
Robot on the SWE (Software/
Limit End switch).

Trans/Rot Robot Base allows you to translate or rotate the

Robot Base position with mouse. Double click and you’ll get the
Dialog Box for entering manually the new position and
orientation for the Robot Base position. The picture bellow
shows the mentioned Dialog Box.

Double click on an
Item and enter the
new value.

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 U S E R P A N E L

Trans/Rot current Selected Body allows translating and

rotating the current selected body on the same way as previous
command.

Trans/Rot current selected Tag and Trans/Rot Path

WorkObject allow manipulation with Tags on the similar way
like previous mouse modes. With double click, Tag Window
appears. For more information about Tag Window see Chapter
7 “ Tag Point”.

Trans/Rot Tool data allows to manipulate with the Tool with

mouse. By choosing twice the option Dialog Box appears for
specifying manually position and orientation. The picture bellow
shows the Dialog Box.

Double click on an
Item and enter the
new value.

Rot | Trans and Abs | Rel are working in combination with

previous modes.

With mouse you are able to specify the new background color
as well as the Floor color. Choose the Background color by
pressing the Left mouse button you change the intensity of the
red color. On the same way with the Right mouse button and
both the Left and the Right you can change the intensity of the
Blue and Green color respectively.

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Note:
All previous modes are explained with 2-mouse button. You can
choose the two-mouse button with:

Aux->Mouse Mode-> 2 Mouse button

If you unchecked the: Aux->Mouse Mode-> 2 Mouse

button, middle button replaces the Left and Right mouse
button together.

IV-30