You can activate the trace of the robot by pressingAlt+T. You can also change the trace style in the Tools➔Trace menu.

Tip: More information available in thegetting started section.

Video: https://www.youtube.com/watch?v=Wb6ToEJVYg0&list=PLjiA6TvRACQcNitucNzKjV9_V3UFnSich&index=24.