Motion profile A motion profile is created using the Create and Edit Motion Profile command The purpose of the motion profile is to specify speed and acceleration values for the robot. One type of profile may set speed and acceleration parameters appropriate to a particular kind of move (e.g., moving to weld point) while another may set those parameters in a way appropriate to a different kind of move (e.g., a via point). The standard velocity vs.
time profile for a move is modeled as a trapezoid, with equal magnitudes assumed for acceleration and
deceleration. If the initial and final velocities are equal, this will result in equal acceleration and deceleration times.
Based on the distance between points and the specified TCP speed, the velocity/time profile may end up being a triangle, i.e., the maximum speed may never be attained (see the following diagrams).
The motion
*Cannot be set when the motion basis equals time Option Acceptable
values Explanation
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Motion basis
Absolute Percent Time
Absolute: Selecting absolute means that the speed value (which must be expressed in terms of mm/seconds) is the average speed the robot will use.
Percent: Selecting percent means that the robot will move a specified percentage of its maximum speed.
Time: Selecting time means that the user provides a set time for the robot motion, and the robot calculates its speed to perform the move within that time.
Speed value Numeric
For absolute:
For straight line motion, this speed specifies absolute TCP linear speed.
For joint-interpolated motion, this value is divided by the maximum TCP linear speed to obtain the percentage of maximum joint speed.
For percent:
For straight line motion, specifies percentage of maximum TCP linear speed.
For joint-interpolated motion, specifies percentage of maximum joint speed.
For time: The programmed duration of the move
Acceleration* Percent For straight line motion, the percentage of the maximum TCP linear acceleration For joint-interpolated motion, the percentage of the maximum joint acceleration Angular
speed* Percent For straight line motion, the percentage of the maximum TCP rotational speed Angular
acceleration* Percent For straight line motion, the percentage of the maximum TCP rotational acceleration
x19 Robot Controller Profiles.doc 3 of 4
Copyright DELMIA Corp. 2004
1. In our example, change the name to Custom Motion.1 the Speed value to 90%, and Toggle between the Motion Basics to view the results. Click on Apply, OK when done.
2. Select the Accuracy Profile from the Robot Controller Toolbar.
Since the Robot is already selected, the results appear.
3. Double click on Accuracy.1.
Accuracy profile An accuracy profile is created using the Create and Edit Accuracy Profile command. The purpose of the accuracy profile is to define the accuracy of a desired trajectory. When corner rounding is desired, users can select between two different algorithms to affect it. When speed is selected accuracy mode, the severity of the corner rounding effect is a function of the deceleration time. In the case of straight-line motion, if the accuracy value is set to 100%, then motion to the next point begins at the start of the deceleration profile, i.e., the robot will not decelerate. This produces the maximum radius for corner rounding. If the accuracy value is set to 50%, then motion to the next point will begin when half of the deceleration time has elapsed, i.e., the robot will decelerate for half of the time required to come to a complete halt, and then it will start the next motion statement.
If the accuracy value is set to 0%, then the move will use the standard acceleration/deceleration profile. When the distance is the selected accuracy move, the accuracy value defines the radius of a virtual sphere, centered at the position to which the TCP is being moved. The corner- rounding motion begins when the robot's TCP reaches any point on this virtual sphere. Therefore, when the value of distance is non-zero, the robot's TCP will never reach the programmed position. To stop within the vicinity of a point, users can select "Flyby Mode = Off," "Accuracy Type = Distance," and then enter the desired tolerance in "Accuracy Value."
The accuracy profile's dialog box (after clicking on the More button) allows users to set the following options:
In our example, change the name to Custom Accuracy.1 and the Accuracy Value to 90%, and Apply, OK.
Option Acceptable
values Explanation
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Flyby Mode
On
Off
On: Selecting On means that the robot moves near, but will not stop at, a specific target (i.e., there will be no deceleration; the target is a via point).
Off: Selecting Off means the robot will stop at the point.
Accuracy Type
Distance
Speed
Distance: As it moves near its target, the robot will move within a "virtual" sphere that has the target point as its center.
Speed: The speed represents the extent to which the robot
decelerates as it rounds the corner. A speed of 0% enables the robot to move exactly to the target point; a speed of 100% means the amount of corner rounding will be very large.
Accuracy
For distance: The accuracy value represents the radius of the sphere.
For speed: A percentage of the deceleration speed at which corner rounding should begin.
x20 Auto Placing a Robot.doc 1 of 4
Copyright DELMIA Corp. 2004
This will review the Auto Place function for the robots that have been inserted.
This procedure explains how to compute a grid automatically, and the possible locations for a robot performing a specific robot sequence. The command asks the user to define a grid in which the robot might be positioned. The software checks the grid to find the place where the robot can be placed and still reach the tags defined for the robot sequence.
1. Select the Auto Place icon, in the Robot Management Toolbar.
2. Select the S-420iS robot. This is the robot that will be analyzed (you can select either the 3D geometry or the item from the PPR tree). The system prompts you to select a robot sequence. Select as shown.
3. The grid definition dialog box appears and a white cross appears on the geometry. Move the white cross to the place where you want the first corner of the grid box. Click on the area, then release the mouse button, and drag the mouse down, and click again. This makes an area that the robot will auto place itself for the best location. Select a similar area, as shown below, OK.
V5 IGRIP