Installation and Commissioning

Motion Control2.3 Motion ControlTrueMove TMVery accurate path and speed, based on advanced dynamic modelling. Speedindependent path. Flexible and intuitive way to specify corner zones (e.g. possibility tohave separate zone sizes for Tool Centre Point (TCP) path and for tool reorientation).QuickMove TMBy use of the dynamic model, the robot always and automatically optimises itsperformance for the shortest possible cycle time. No need for manual tuning! This isachieved without compromising the path accuracy.Coordinate SystemsA very powerful concept of multiple coordinate systems that facilitates jogging,program adjustment, copying between robots, off-line programming, sensor basedapplications, external axes co-ordination etc. Full support for TCP attached to the robotor fixed in the cell (“Stationary TCP”). Note that also joint coordinate movements(MoveJ) are recalculated when a coordinate system is adjusted.Singularity handlingThe robot can pass through singular points in a controlled way, i.e. points where twoaxes coincide.Motion SupervisionThe behaviour of the motion system is continuously monitored as regards position andspeed level to detect abnormal conditions and quickly stop the robot if something is notOK. A further monitoring function, Collision Detection, is optional (see option “LoadIdentification and Collision Detection”).External axesVery flexible possibilities to configure external axes. Includes for instance highperformance coordination with robot movement and shared drive unit for several axes.Big InertiaOne side effect of the dynamic model concept is that the system can handle very bigload inertias by automatically adapting the performance to a suitable level. For big,flexible objects it is possible to optimise the servo tuning to minimise load oscillation.Product Specification RobotWare for BaseWare OS 3.1 7