[531] Advanced Motion
12 Product Specification RobotWare Options for BaseWare OS 4.0
[531] Advanced Motion
Contains functions that offer the following possibilities:
- Resetting the work area for an axis.
- Independent movements.
- Contour tracking.
- Coordinated motion with external manipulators.
Resetting the work area for an axis
The current position of a rotating axis can be adjusted a number of complete turns
without having to make any movements.
Examples of applications:
- When polishing, a large work area is sometimes needed on the robot axis 4 or
axis 6 in order to be able to carry out final polishing without stopping. Assume
that the axis has rotated 3 turns, for example. It can now be reset using this
function, without having to physically rotate it back again. Obviously this will
reduce cycle times.
- When arc welding, the work object is often fitted to a rotating external axis. If
this axis is rotated more than one turn during welding, the cycle time can be
reduced because it is not necessary to rotate the axis back between welding
cycles.
Coordinated motion with multi-axis manipulators
Coordinated motion with multi-axis manipulators or robot carriers (gantries) requires
the Advanced Motion option. Note that simultaneous coordination with several single
axis manipulators, e.g. track motion and workpiece manipulator, does not require
Advanced Motion.
Note! There is a built-in general method for defining the geometry for a manipulator
comprising two rotating axes (see User’s Guide, Calibration). For other types of
manipulators/robot carriers, comprising up to six linear and/or rotating axes, a special
configuration file is needed. Please contact your nearest local ABB office.
Contour tracking
Path corrections can be made in the path coordinate system. These corrections will take
effect immediately, also during movement between two positions. The path corrections
must be entered from within the program. An interrupt or multitasking is therefore
required to activate the correction during motion.
Example of application:
- A sensor is used to define the robot input for path correction during motion.
The input can be defined via an analog input, a serial channel or similar.
Multitasking or interrupts are used to read this information at specific intervals.
Based on the input value, the path can then be adjusted.
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