Some of the motion characteristics of the robot are determined using logical instructions that apply to all movements:

•  Maximum velocity and velocity override

•  Acceleration

•  Management of different robot configurations

•  Payload

•  Behaviour close to singular points

•  Program displacement

•  Soft servo

•  Tuning values

The basic characteristics of the robot motion are determined by data specified for each positioning instruction. Some data, however, is specified in separate instructions which apply to all movements until that data changes.

The general motion settings are specified using a number of instructions, but can also be read using the system variable C_MOTSET or C_PROGDISP.Default values are automatically set (by executing the routine SYS_RESET in system module BASE)

•  at a cold start-up,

•  when a new program is loaded,

•  when the program is started from the beginning.

The absolute velocity is programmed as an argument in the positioning instruction. In addition to this, the maximum velocity and velocity override (a percentage of the programmed velocity) can be defined.

Instruction Used to define:

VelSet The maximum velocity and velocity override

When fragile parts, for example, are handled, the acceleration can be reduced for part of the program.

Instruction Used to define:

AccSet The maximum acceleration

The robot’s configuration is normally checked during motion. If joint (axis-by-axis) motion is used, the correct configuration will be achieved. If linear or circular motion are used, the robot will always move towards the closest configuration, but a check is performed to see if it is the same as the programmed one. It is possible to change this, however.

Instruction Used to define:

ConfJ Configuration control on/off during joint motion

ConfL Configuration check on/off during linear motion

To achieve the best robot performance, the correct payload must be defined.

Instruction Used to define:

GripLoad The payload of the gripper

The robot can be programmed to avoid singular points by changing the tool orientation automatically.

Instruction Used to define:

SingArea The interpolation method through singular points

When part of the program must be displaced, e.g. following a search, a program displacement can be added.

Instruction Used to:

PDispOn Activate program displacement

PDispSet Activate program displacement by specifying a value

PDispOff Deactivate program displacement

EOffsOn Activate an external axis offset

EOffsSet Activate an external axis offset by specifying a value

EOffsOff Deactivate an external axis offset

Function Used to:

DefDFrame Calculate a program displacement from three positions

DefFrame Calculate a program displacement from six positions

ORobT Remove program displacement from a position

One or more of the robot axes can be made "soft". When using this function, the robot will be compliant and can replace, for example, a spring tool.

Instruction Used to:

SoftAct Activate the soft servo for one or more axes

SoftDeact Deactivate the soft servo

In general, the performance of the robot is self-optimising; however, in certain extreme cases, overrunning, for example, can occur. You can adjust the robot tuning values to obtain the required performance.

Instruction Used to:

TuneServo1 Adjust the robot tuning values

TuneReset Reset tuning to normal

PathResol Adjust the geometric path resolution

Data type Used to:

tunetype Represent the tuning type as a symbolic constant

1. Only when the robot is equipped with the option "Advanced Motion"

Up to 10 different volumes can be defined within the working area of the robot. These can be used for:

•  Indicating that the robot’s TCP is a definite part of the working area.

•  Delimiting the working area for the robot and preventing a collision with the tool.

•  Creating a working area common to two robots. The working area is then available only to one robot at a time.

Instruction Used to:

WZBoxDef1 Define a box-shaped global zone

WZCylDef 1 Define a cylindrical global zone

WZSphDef Define a spherical global zone

WZLimSup1 Activate limit supervision for a global zone

WZDOSet1 Activate global zone to set digital outputs

WZDisable1 Deactivate supervision of a temporary global zone

WZEnable1 Activate supervision of a temporary global zone

WZFree1 Erase supervision of a temporary global zone

Data type Used to:

wztemporary Identify a temporary global zone

wzstationary Identify a stationary global zone

shapedata Describe the geometry of a global zone

Data type Used to define:

motsetdata Motion settings except program displacement

progdisp Program displacement