Universal Robots UR30 - Page 120

Optimove Optimove is a motion control option that specifies the speed and acceleration of the robot,
while maintaining the hardware limits.
This means the optimal motion of the robot does not exceed the desired (or maybe
defined)limits.
You can use the Optimove motion option when adding a MoveJ or a MoveL to your robot
program.
MoveJ The MoveJ command creates a movement from point A to point B that is optimal for the
robot.
The movement may not be a direct line between A and B, but optimal for the start position of
the joints and the end position of the joints.
Add a MoveJ
command
1. In your robot program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with a Move
node.
3. Select the move node.
4. Select MoveJ in the drop-down menu.
Detail MoveJ makes movements that are calculated in the robot arm joint space. Joints are
controlled to finish their movements at the same time. This movement type results in a
curved path for the tool to follow. The shared parameters that apply to this movement type
are the maximum joint speed and joint acceleration, specified in deg / s and deg / s
2
,
respectively. If it is desired to have the robot arm move fast between waypoints,
disregarding the path of the tool between those waypoints, this movement type is the
preferable choice.
Add a MoveJ
command
with
Optimove
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with a Move
node.
3. Select the move node.
4. Select MoveJ in the drop-down menu.
5. In the program tree, select the newly added MoveJ.
6. In the Command pane, under Motion, select OptiMove.
7. Use the slider to set the speed.
8. You can select Scaled acceleration to (what does it do?)
MoveL The MoveL command creates a movement that is a direct line from point A and point B.
Add a MoveL
command
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with a Move
node.
3. Select the move node.
4. Select MoveL from the drop-down menu.
UR30 121 User Manual
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