Motion Version

The motion version setting influences how motions are planned and executed when using the movel(pose, a=1.2, v=0.25, t=0, r=0) or movej(q, a=1.4, v=1.05, t=0, r =0) URScript functions.

The optimovej() and optimovel() URScript functions are not influenced by this setting.

Motion version "1" enables the same motion behavior used up to PolyScope 5.21, while motion version "2" applies the following changes relative to motion version "1":

  • Modify acceleration ramps to reduce robot and equipment vibrations. This might slightly influence the timing of a motion, but not the path the robot moves along.

  • Clamp velocity and acceleration values to the hardware limits of the robot during motion planning, leading to less dynamic speed scaling.

  • Improve blending, which might lead to slightly different blend paths and timings.

  • Dynamically reduce blend radii to prevent blend radius overlaps and waypoint skipping.

It is recommended to use motion version "2".

 

Modifying the motion version

The motion version can be set and read via the motion_version_set(version) and motion_version_get() URScript functions. However, it is generally recommended to set the desired behavior in the PolyScope Installation tab and let PolyScope set the motion version based on these settings in the script preamble.

A set motion version persist until the system is restarted or a new program is run via the PolyScope GUI (in which case the installation settings will be applied on program start).

In rare cases, it might be required to enforce a certain motion setting for a particular motion, e.g. in URCaps, without modifying other program motions.

For this usecase, the motion version should be modified locally and reset afterwards:

motion_version = motion_version_get()

# save state

motion_version_set(2)

# ensure improved motion behavior

movel(...

# critical motion

motion_version_set(motion_version)

# restore state

 

Availablity

The motion version script API is accessible starting with PolyScope 5.22. On some platforms, motion version "1" is not available, details can be found in the table below.

When trying to set a motion version that is unavailable, PolyScope will ignore the setting and log a warning.

PolyScope Version Robot Available Motion Versions
PolyScope 5.22 and above eSeries, UR20, UR30 1, 2
PolyScopeX 10.9 and above Any 2
Any UR15 and newer 2