Installation and Commissioning

Advanced Motion 3.1Contour trackingPath corrections can be made in the path coordinate system. These corrections will takeeffect immediately, also during movement between two positions. The path correctionsmust be entered from within the program. An interrupt or multitasking is thereforerequired to activate the correction during motion.Example of application:- A sensor is used to define the robot input for path correction during motion. Theinput can be defined via an analog input, a serial channel or similar. Multitaskingor interrupts are used to read this information at specific intervals. Based onthe input value, the path can then be adjusted.Independent movementsA linear or rotating axis can be run independently of the other axes in the robot system.The independent movement can be programmed as an absolute or relative position. Acontinuous movement with a specific speed can also be programmed.Examples of applications:- A robot is working with two different stations (external axes). First, a workobject located at station 1 is welded. When this operation is completed, station1 is moved to a position where it is easy to change the work object and at thesame time the robot welds the work object at station 2. Station 1 is moved independentlyof the robot’s movement, which simplifies programming and reducesthe cycle time.- The work object is located on an external axis that rotates continuously at a constantspeed. In the mean time, the robot sprays plasma, for example, on thework object. When this is finished the work area is reset for the external axis inorder to shorten the cycle time.Friction CompensationDuring low speed (10-100 mm/s) cutting of fine profiles, in particular small circles, afriction effect, typically in the form of approximately 0.5 mm “bumps”, can be noted.Advanced Motion offers a possibility of compensating for these frictional effects.Typically a 0.5 mm “bump” can be reduced to about 0.1 mm. This, however, requirescareful tuning of the friction level (see User’s Guide for tuning procedure). Note thateven with careful tuning, there is no guarantee that “perfect” paths can always begenerated.For the IRB 6400 family of robots, no significant effects can be expected by applyingFriction Compensation.Product Specification RobotWare for BaseWare OS 3.1 17