Installation and Commissioning

Advanced Motion 3.13.2 Advanced Motion 3.1Contains functions that offer the following possibilities:- Resetting the work area for an axis.- Independent movements.- Contour tracking.- Coordinated motion with external manipulators.Resetting the work area for an axisThe current position of a rotating axis can be adjusted a number of complete turnswithout having to make any movements.Examples of applications:- When polishing, a large work area is sometimes needed on the robot axis 4 oraxis 6 in order to be able to carry out final polishing without stopping. Assumethat the axis has rotated 3 turns, for example. It can now be reset using this function,without having to physically rotate it back again. Obviously this willreduce cycle times.- When arc welding, the work object is often fitted to a rotating external axis. Ifthis axis is rotated more than one turn during welding, the cycle time can bereduced because it is not necessary to rotate the axis back between weldingcycles.Coordinated motion with multi-axis manipulatorsCoordinated motion with multi-axis manipulators or robot carriers (gantries) requiresthe Advanced Motion option. Note that simultaneous coordination with several singleaxis manipulators, e.g. track motion and workpiece manipulator, does not requireAdvanced Motion.Note! There is a built-in general method for defining the geometry for a manipulatorcomprising two rotating axes (see User’s Guide, Calibration). For other types ofmanipulators/robot carriers, comprising up to six linear and/or rotating axes, a specialconfiguration file is needed. Please contact your nearest ABB Flexible AutomationCentre.16 Product Specification RobotWare for BaseWare OS 3.1