DENSO's Wincaps II offline programming software is designed to assist users in developing and trouble shooting programmes on a personal computer. It offers 3-D simulation tools to quickly layout automation workcells. By creating peripherals such as grippers, conveyors, pallets, etc., the user can determine the obstacle clearances and verify the reach.

Robot actions can be simulated without actually operating the robot therefore the programs can be developed efficiently and safely from the initial stage of development. The robot's motion is dynamically recreated in 3-D solid rendering which can be viewed in near real time using RS323C, ethernet or DeviceNet connections.

It also provides full control and monitoring of I/O signals to simulate communications between the controller and external devices during operation.