Creating or Editing a Motion Profile

This procedure explains how to create or edit the 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.

This task shows you how to:

Before you begin: To perform this procedure, you must have a robot and at least one robot task defined.

Create a Motion Profile

This task shows you how to create a motion profile.

  1. From the Motion Controller section of the action bar, click Motion Profile .
  2. Select a resource in the work area.
    The Motion Profile dialog box appears. A new motion profile appears under the Controller Profiles node of the tree for the selected device, as well as under Generic Motion Profiles in the Profiles panel of the immersive browser in Live Simulation.
  3. From the Motion Profile dialog box, you can define the following:
    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 immersive browser and the tree.

    By default, the naming convention is Motion.number, where number equals the number of existing motion profiles.

    Index

    You can enter an index number for the current profile. Positive integer values or zero are accepted.

    By default, this value is unset.

    Motion Basis

    When Speed/Acceleration is selected, the dialog box provides a Speed/Acceleration Values section that allows you to specify linear and angular values for speed, acceleration and deceleration. These values can be specified in absolute units or as a percentage. In simulation scenarios, the percentage specified is treated as a percentage of the maximum specified by Speed and Acceleration Limits. Click % to toggle whether the speed value is expressed as an absolute value or as a percentage of the maximum joint speed specified.

    When Time is selected, you can enter a cycle time for the device motion.

    By default, the Motion Basis is set to Speed/Acceleration, and its value equals 0.50s.

    Note: Acceleration and Deceleration values can be specified in either absolute units or as a percentage value. This specification is linked such that, if the specification for acceleration is changed, the deceleration value is specified in the same manner. However, if the deceleration value is changed, the acceleration does not change and the parameters are no longer updated together.
  4. Enter the data that applies.
  5. Click OK.
    The motion profile is now defined.
  6. If you want the new motion profile you just created set as the motion profile for the device, right-click on it in the tree and select Motion Profile object > Set as current.
    The green check mark beside a particular profile indicates that it is set as current (see the Default motion profile listed on the image above).

The motion profile is created and set as the motion profile for the robot.

Make Applicative Parameter Profile Assignments

This task shows you how to create applicative parameter profile assignments.

  1. Right-click on the motion profile and select Properties.
    The Properties dialog box appears.
  2. Click the Applicative Profiles tab.

    This tab lists all existing applicative profiles and their current assignments.

  3. Change the assignments by selecting a new instance from the list.