Motion Controller Properties Dialog Box

This document describes the Motion Controller Properties tab of the Properties dialog box that appears when you right-click on the motion controller attribute of the current robot and select Properties.

This page discusses:

See Also
Robot Controller Sampling Rate

Note: All time values must be positive.

Motion Controller

Controller Type
Define the motion controller type.
Singularity Tolerance
The value that initially appears is the default value that is specified when a robot model is created; therefore, the value varies for different robots/controllers/manufacturers. The parameter can be set from 0 to 10 degrees.
  • If you want to turn off singularity tolerance, you can set the value to zero.
  • If non-sero, it is the zone in degrees around the wrist singular position that is considered unreachable by the inverse kinematics.
Joint Interpolation Mode
Set the field to match the values that support the actual robot based on the controller type. The following values are available:
  • Shortest angles
  • Solution angles
  • Turn numbers
  • Absolute shortest angles
  • Turn signs
When the turn numbers or turn signs are set, the current controller provides support for turn numbers or signs (as in the Jog dialog box).

Heart Beat

Rate
Enter the rate required. The generated motion is computed following a specific heartbeat, which is independent of the simulation step size.

Time Compensation

Response Delay
This parameter sets the amount of time between the activation of the motion command and the actual motion of the robot.
Settle Time
This value is an estimated time required for settling of manipulator vibrations after reaching the point.

Scaling

The Acceleration parameter offers the following options:

Constant
The value of velocity is scaled in order to extend the motion time to the desired value.
Variable
The value of acceleration is scaled in order to extend the motion time to the desired value.

Variable is selected.

Time-based Motion

The Type parameter offers the following options:

Exact
No speed limits are taken into account when performing motion.
Constrained
Speed limits are taken into account when performing motion.

Constrained is selected.

Acceleration Mode

The Type parameter offers the following options:

Variable Time
Acceleration constrained by joint max acceleration rate.
Constant Time
Acceleration constrained by joint acceleration time.

Variable Time is selected.