Maximum speed and acceleration of joint:
Maximum speed of motor is 3000rpm. It is recommended that the speed is no more than
2800rpm in actual use. Maximum acceleration of motor (added speed per second) is 20000rpm/s.
The joint’s speed is motor speed / speed ratio. The speed ratio of Joint 1~3, 4~6 in AUBO-i5 are
121 and 101.
Whether a joint can reach and keep maximum speed is determined by the joint displacement and
the maximum acceleration parameters.
Motion mode includes S Curve and default Optimum time mode. It is recommended to choose
S Curve to ensure that start and end motions are smoother in a short time. Maximum joint speed
and maximum joint acceleration can be set as Figure 11.8.
b) Move Line:
It makes the end-effector moves linearly between waypoints, which means each joint will operate
more complex movements to keep end-effector’s track in line. Common parameter that applied for
this movement type includes the maximum speed and maximum acceleration (represent as mm/s and
mm/s²) of needed tools and motion mode. Similar with Move Joint, whether a joint can reach and
keep maximum speed is determined by the joint displacement and the maximum acceleration
parameters. As shown below.
Figure 11.22 Move Line
Users can set linear speed, linear acceleration and motion mode, which is S Curve or uniform motion
mode. Similar with Move Joint, start and end motion are smoother under S Curve mode. It is
recommended to choose S Curve.
Moreover,【arc】and【Cartesian cubic】motion mode of move line and move track belong to
Cartesian space trajectory planning, which needed inverse kinematics result. There may have no
solution, multiple solutions or approximation solutions. Because of nonlinear relationship between
joint space and Cartesian space, joint motion may beyond the limitation of maximum speed and
acceleration.
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