Procedure:
In this exercise, Motion and Accuracy
Profiles will be created.
1. Expand Motion and Accuracy files for Spot Weld 1.
2. In the Robot Controller Toolbar,
Select the Robot S-420iS.1 to add
a new profile and Motion.1 has been created.
3. Double click to edit Motion.1.
Motion profile A motion profile is created
using the Create and Edit Motion Profile command The purpose of the motion
profile is to specify speed and acceleration values for the robot. One
type of profile may set speed and acceleration parameters appropriate to a
particular kind of move (e.g., moving to weld point) while another may set
those parameters in a way appropriate to a different kind of move (e.g., a via
point). The standard velocity vs. time profile for a move is modeled as a
trapezoid, with equal magnitudes assumed for acceleration and deceleration. If
the initial and final velocities are equal, this will result in equal
acceleration and deceleration times. Based on the distance between points and
the specified TCP speed, the velocity/time profile may end up being a triangle,
i.e., the maximum speed may never be attained (see the following diagrams).
Get free full Tutorial!
Please send me email:
cadxneter@hotmail.com
No comments:
Post a Comment