Motion Profile Dialog Box

This document describes the Motion Profile dialog box, which appears when you select Motion 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 on the tree and on all menu options.

By default, the naming convention is Motion.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.

Motion Basis

The Motion Basis contains the following options:

Absolute
Selecting Absolute means that the speed value (which must be expressed in terms of mm/seconds) is the average speed the robot uses. When you select Absolute, the Speed value depends on the motion type:
  • 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.
Percent
Selecting Percent means that the robot will move a specified percentage of its maximum speed. When you select Percent, the Speed value depends on the motion type:
  • For straight line motion, this value specifies percentage of maximum TCP linear speed.
  • For joint-interpolated motion, this value specifies percentage of maximum joint speed.
Limits
The basic premise behind the speed value limitation is that a device or an individual joint of a device can move only as fast as it is allowed to. In other words, the speed value can range from 0% to 100% (of the maximum speed). If the speed value is expressed in absolute terms (rad/s or m/s, for example), then the speed value range is from 0 to Vmax. Should a higher speed value be needed, higher Vmax value can be set in the Speeds And Accelerations dialog.
Time
Selecting Time means that you provide a set time for the robot motion, and the robot calculates its speed to perform the move within that time. When you select Time, the Speed value represents the programmed duration of the move.

By default, the Motion Basis is set to Percent; the Speed value equals 50%.

There are two possible motion time modes. The exact time-based mode ignores speed limitations and makes sure that the device reaches the target in the assigned period of time. The constrained time-based mode takes into account speed limitations and makes sure that such limitations are not violated. As a result, device might reach the target point in time that is greater than the time set by you. Select the time-based mode on the properties page of device's controller.

Acceleration Options

These options are available once you click the More button. These values cannot be set when the Motion Basis is set to Time. The acceleration options are as follows:

Accel Value
The Accel Value depends on the motion type:
  • For straight line motion, the value equals the percentage of the maximum TCP linear acceleration.
  • For joint-interpolated motion, the value equals the percentage of the maximum joint acceleration.
Angular Speed
For straight line motion, the value equals the percentage of the maximum TCP rotational speed.
Angular Acceleration
For straight line motion, the value equals the percentage of the maximum TCP rotational acceleration.

By default, all values are set to 100%.

Limits
In terms of acceleration and deceleration values, limitations are somewhat simpler. Either of the two parameters can assume any non-negative value. It is even possible to set a value in the Motion Profile dialog that is higher than the corresponding maximum value set in the Speeds and Accelerations dialog. Such higher value will emulate the effect of acceleration override, which exists on many machines. Most manufacturers allow it, yet they it is not necessarily recommended as it increases the wear and tear of the machine.;