Motion Profiles

Description

Motion Profiles application allows you to share move parameters across your program by defining speed and acceleration with a profile name. The profile name can then be referred in any new move node in your program, even if the moves are not grouped in a folder. This application applies to the following commands:

  • Joint Move

  • Linear/Direction Move

  • Process/Circular Move

 
Intended programming flow

  1. User starts by setting up all the Motion Profile needed for the application.

  2. Choose a suitable name for easy recognition.

  3. Choose the proper Move type (Joint, Linear/Direction, Process Move, Circular arc) from the commands toolbox when the Move node is inserted .

  4. Every Move node should use a Motion Profile for easy overview.

 
Using the Motion Profiles application functionality

  1. Go to the application nodes screen. See Application Tab.

  2. Tap the Motion Profiles icon.

    The Motion Profiles screen appears, which is divided into two panels: left panel contains the three move types, and right panel contains the speed settings.

 

 

Left Panel

 

The left panel contains three move types, which correspond to the three motion profile categories:

  • Joint Move

  • Linear/Direction Move

  • Process/Circular Move

Note: Derived program nodes will use the profile for their underlying move type.

Joint Move for joint profile.

Direction node for linear profile.

Circular Arc Move for process profile.

  1. Tap the kebab icon and choose Rename, Set as Default, or Delete.

  2. Tap the appropriate + Create New action in each profile to add a new motion profile.

    Note: The last profile of any move type cannot be deleted.
 

 

Right Panel

The right panel contains three fields of the speed settings:

  • Speed Type

  • Speed

  • Acceleration

  1. Tap the Speed Type field and choose either OptiMove or Classic.

    OptiMove. This is the recommended option for program safety and reliability, which allows the values to be set as a percentage of the allowed maximum. See OptiMove.

    Classic. This speed type enables you to specify values in m/s and m/s².

  2. Tap the Speed field, and three tabs appear:

    • Value

    • Variable

    • Expression

  3. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

  4. Tap the Acceleration field, and three tabs appear:

    • Value

    • Variable

    • Expression

  5. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

 
Example Program for Motion Profiles

  1. Go to steps 1-2 of “Using the Motion Profiles application functionality.”

  2. On the left panel, tap Process/Circular Move.

  3. Tap + Create New, type the motion profile name as “Welding_speed.” Save.

  4. On the right panel, change the motion settings speed to 50 in the Value tab, and Confirm.

  5. Tap the kebab icon of “Welding_speed” and set it as default.

  6. Tap the kebab icon of Process, rename it “Medium_speed” and Save.

  7. On the right panel, change its motion settings speed to 100 in the Value tab, and Confirm.

  8. Tap again + Create New, type the motion profile name “Fast_speed” and Save.

  9. On the right panel, change the motion settings speed to 150 in the Value tab, and Confirm.

  10. Go to the main program screen. See Command Nodes.

  11. Tap the Process Move icon and choose Welding_speed as Point_1.

  12. Go to Edit Point button and jog the robot using the X, Y, Z plus-minus button in the multitask screen.

  13. Tap the Blend field, enter 5 in the Value tab, and Confirm.

  14. Repeat step 10 and tap again the Process Move icon. Choose Medium_speed as Point_2.

  15. Repeat step 12.

  16. Tap the Blend field, enter 10 in the Value tab, and Confirm.

  17. Repeat step 10 and tap again the Process Move icon. Choose Fast_speed as Point_3.

  18. Tap the Blend field, enter 15 in the Value tab, and Confirm.

  19. In the footer, play the program.