Accuracy Profile Dialog Box

This document describes the Accuracy Profile dialog box, which appears when you select Accuracy Profile.

This dialog box contains controls for:

This page discusses:

Name

You can enter a name for the profile or accept the default. The name is the one that appears for the profile in the tree.

By default, the naming convention is Accuracy.number, where number minus one equals the number of existing motion profiles.

Index

Many robot controllers refer to the profile by an index number that acts as an identifier. Index provides a neutral naming convention for all controllers and is used by apps such as Robot Programming and Realistic Robot Simulation to identify the profile.

You can enter a positive integer value or zero as an index number for the current profile. When left unset, Robot Programming and Realistic Robot Simulation will parse the name of the profile to obtain an index.

By default, this value is unset.

Flyby Mode

The Flyby Mode area contains the following options:

On
Selecting On means that the robot moves near, but does not stop at, a specific target (i.e., there is no deceleration; the target is a via point). In other words, motion is in flyby mode while the actual motion trajectory depends on the geometry of the path and values of kinematic parameters.

A special case is when Accuracy Value is set to zero. In that case, motion is considered point-to-point.

Off
Selecting Off means the robot stops at the point, i.e., motion is in point-to-point mode regardless of the Accuracy Value and Accuracy Type settings.

By default, Off is selected.

Accuracy Type

The Accuracy Type area contains the following options:

Distance
As it moves near its target, the robot moves 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 is very large.

By default, Speed is selected.

Accuracy Value

The options for Accuracy Value are as follows:

For Distance
The Accuracy Value represents the radius of the sphere.
For Speed
The Accuracy Value is a percentage of the deceleration speed at which corner rounding should begin.