Motion Controller Section

The primary area of the Motion Controller section provides commands for creating and managing mechanical resources.

This page discusses:

Flyout for Motion Controller
Flyout for New Tool Profile
Flyout for TCP Safety Zones
Flyout for Inverse Kinematics
Flyout for Set Tool


	Define Mechanical Resource Define the attributes for a programmable mechanical resource. See Defining the Attributes of the Device.
	Motion Controller See Flyout for Motion Controller
	New Tool Profile See Flyout for New Tool Profile
	TCP Safety Zone See Flyout for TCP Safety Zones
	Jog Mechanism Jog a mechanical resource that is managed by a resource motion controller. See Jogging using Jog Mechanism.
	Home Positions Defines the home position(s) for a given mechanical resource. Each home position is characterized by a unique name and a set of command values. See Defining Home Positions.
	Travel Limits Defines the travel limits for each command of a mechanism. These limits are used during jogging/simulation of a device or mechanism. See Defining Travel Limits.
	Speed and Acceleration Limits Set the maximum values for speed and acceleration for all joints in a selected device, as well as the maximum TCP (Tool Center Point) speed and acceleration allowed when the device is in motion. See Assigning Speed and Acceleration.
	Axis Names Defines the machine axis names. This is especially useful in defining rotary axis names. Click Axis Names. Selecting the desired node from the tree, the Axis Names Editor dialog box appears. Enter any string as the name of the Axis. If a rotary axis is powered (e.g. a DAndrea mechanism), select Powered. Click OK to accept the changes.
	Inverse Kinematics See Flyout for Inverse Kinematics
	Set Tool See Flyout for Set Tool

Flyout for Motion Controller


	Motion Controller Create a resource motion controller and default motion groups (which may include additional tool device such as a rail or track). To perform this procedure, you must have a Control Device resource under a Station (organizational resource) then you can add a resource motion controller to a resource. See Creating a Controller for Resource Instances.
	Manage Motion Groups Create, read, update and delete the motion groups of a control device. A motion group represents the subset of devices that are controlled by a control device, whose combined motion is involved in a motion task. See Managing Motion Groups.

Flyout for New Tool Profile


	New Tool Profile Create or edit a Tool Profile that is associated with a industrial robot. See Creating or Editing a Tool Profile.
	New Motion Profile Create a Motion Profile associated with a robot. All robots have profiles that make up part of their controller data. The motion profile defines data about the robot's speed. See Creating or Editing a Motion Profile.
	New Accuracy Profile Creates a Accuracy Profile associated with a industrial robot. See Creating or Editing an Accuracy Profile.
	New Object Profile Creates a new Object Profile that is associated with a robot. . See Creating or Editing the Object Profile.
	New Conveyor Tracking Profile Creates a new conveyor tracking profile on a industrial robot. See Creating or Editing a New Conveyor Tracking Profile.
	Applicative Profile Define user profiles with their own attributes for a controller. See Profile Management Dialog Box.
	Controller Synchronization Synchronize a controller profile instance with the reference. Data can be imported from the reference, as well as propagated from the instance down to the reference. See Controller Synchronization.
	Controller Parameters Access the resource controller parameters for edition of controller properties (including RRS).

Flyout for TCP Safety Zones


	TCP Safety Zone Defines a TCP (Tool Center Point) safety zone that creates constraints on a given industrial equipment like a robot having inverse kinematics capabilities. See Defining Safety Zones.
	Axis Safety Zone Define Axis Safety Zones for a given industrial equipment (machine, robot, tooling).This provides safety controls on specific command ranges. See Define an Axis Safety Zone.
	Tool Volume Defines tool volume for an industrial equipment having tool profiles. This represents the theoretical volume of the tool.
	Import/Export Safety Zones Import/export safety zone data (TCP safety zone, axis safety zone and tool volumes) or a object. Click Import/Export Safety Zones and select the object. The Safety Zones Import/Export dialog box appears showing the selected resource. Select from the Options, Export or Import. Provide a File location using the Select File Location dialog box. Click OK when completed.

Flyout for Inverse Kinematics


	Inverse Kinematics Simulate inverse kinematics for a device by defining numeric, generic, device-specific and inverse attributes. Inverse kinematics are defined on an industrial robot or NC Machine. See Assigning Inverse Kinematics.
	User Defined Forward Kinematics Solver Instead of using the default forward kinematics solver, create a user-defined forward kinematics solver routine. See Creating User-defined Forward Kinematics.
	Kinematic Relations Define Forward Kinematic Relations formula(s) for non-command joints. These formulas will be functions of the actual DOF (Degrees of Freedom) command. Mechanism parameters such as link lengths, link offsets and user-defined variables may be defined. See Defining Kinematic Relationships.
	Kinematic Cable Defines a cable bundle for a given robot. See Creating and Checking a Robotic Kinematic Cable.

Flyout for Set Tool


	Set Tool Mount a mechanical device (modeled as Tool Equipment) to an industrial robot or a robot to a rail/gantry. See Setting Tools, Tool on a Robot, Robot on Rail/Gantry.
	Workspace Envelope Create the reachable volume for a given industrial robot's workspace envelope around the robot. See Creating a Workspace Envelope.
	Tooling Part Grouping Group tool device parts into categories. See Grouping Tooling Parts.