DENSO Robotics’ Enhanced Multirobot (EMU) simulation and offline programming software serves as a master controller for robot project files imported from the company’s WINCAPS III application. A user can simulate and program up to 16 DENSO robots in a single automation workcell. WINCAPS III allows a robot to be programmed on an offline computer. A 3-D simulation feature enables layout of an entire automation workcell in a virtual environment. Users can import CAD drawings in standard VRML and DirectX formats, and input or change variables. Users can also verify reach, determine obstacle clearances, detect collisions, troubleshoot and debug programs, and determine cycle time. An Easy Teach feature allows users to move the robot to a particular point by clicking on the surface of the virtual model. Simulation sessions can be saved as AVI files for later reference.