About Robot Controller Profiles

This section provides information regarding the meaning of the variables set in controller profiles and robot controller properties. 
  Each robot controller has profiles.  Each profile defines characteristics of different aspects of the controller.  The five profile types are:

In addition, you can access robot controller properties, which enables you to set the robot's heartbeat.
When a robot is imported into a process document, it automatically has a default profile for each of the five profile types.  The default profile cannot be changed.  Users can create one or more customized profiles for as many of the profile types as they wish.  For instance, one accuracy profile may be set for a weld action; another for a via point.  One tool profile should be set for each tool mounted on the robot.  Once these profiles are created, they can be chosen for all or selected operations in a process.

Tool Profile
A tool profile is created in one of two ways: 
In the latter case, the profile takes the name of the tool mounted on the robot.
The purpose of the tool profile is to define the physical characteristics of any tool used with the robot.  The tool's characteristics affect the robot's behavior, often subtly. The tool profile cannot be customized as part of a move activity.
The table below shows the options available in the dialog boxes associated with New Tool Profile .  The dialog boxes are:
  • Tool Profile (shown before and after clicking the More button),
  • Set TCP Offset (which appears after you click the Set TCP button), and
  • Set Non-RTCP Profile (which appears after you select Non RTCP).

Option Acceptable values Explanation
Tool Profile
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Tool type On Robot

Stationary

Non RTCP

 On Robot:  If this option is selected, the tool is mounted on the robot (e.g., a weld gun).

Stationary:  If this option is selected, the tool is assumed to be external to the robot (e.g., a gantry).

Non RTCP:  Users select this option to create a non-RTCP profile, which has both fixed and mobile tool profile capabilities. This tool profile can only be created based on the existing list of fixed and mobile tool profiles. See Set Non RTCP Profile, below.
Set TCP See Set TCP Offset, below
Mass** Numeric The number entered represents the mass (in kg*) of the tool.  
Centroid** Numeric These three coordinates (in mm*) show the center of mass for the tool.
Inertia** Numeric The coordinates (in kg x mm2*) show the rotational inertia of the tool.
Set TCP Offset
Mounted device Devices listed See Mounting a Device on a Robot
Current TCP Area created in the part geometry If multiple TCP sites are available, one can be selected.
TCP Offset Controls: 
  • X, Y, Z
  • Pitch, yaw, roll
 Numeric Users can key in values, use the spinners, or select a tag point on the mounting flange (if the tool is on the robot) or a tag point on an external tool (if the tool is stationary).
Steps Linear/Angular Controls the step size
Set Non-RTCP Profile
Fixed Tool Profile Profiles listed Determines fixed tool profile
Mobile Tool Profile Profiles listed Determines mobile tool profile

* These units are the default units. You can alter the units using Tools>Options.

**This option does not apply if the tool type is stationary.

Motion Profile
A motion profile is created using New Motion Profile ; see Creating and Editing a Motion Profile.
The purpose of the motion profile is to specify speed and acceleration values for the robot.  One type of profile may set speed and acceleration parameters appropriate to a particular kind of move (e.g., moving to weld point) while another may set those parameters in a way appropriate to a different kind of move (e.g., a via point).
The standard velocity vs. time profile for a move is modeled as a trapezoid, with equal magnitudes assumed for acceleration and deceleration. If the initial and final velocities are equal, this will result in equal acceleration and deceleration times. Based on the distance between points and the specified TCP speed, the velocity/time profile may end up being a triangle, i.e., the maximum speed may never be attained (see the following diagrams). 
The Motion Profile dialog box (after clicking the More button) allows users to set the following options:

    
Option Acceptable values Explanation
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Motion basis Absolute

Percent

Time

 Absolute: Selecting absolute means that the speed value (which must be expressed in terms of mm/seconds) is the average speed the robot will use. 

Percent: Selecting percent means that the robot will move a specified percentage of its maximum speed.

Time: Selecting time means that the user provides a set time for the robot motion, and the robot calculates its speed to perform the move within that time.
Speed value Numeric For absolute: 
  • For straight line motion,  this speed specifies absolute TCP linear speed. 
  • For joint-interpolated motion, this value is divided by the maximum TCP linear speed to obtain the percentage of maximum joint speed.

For percent: 

  • For straight line motion, specifies percentage of maximum TCP linear speed. 
  • For joint-interpolated motion, specifies percentage of maximum joint speed.

For time: The programmed duration of the move
Acceleration Value* Percent
  • For straight line motion, the percentage of the maximum TCP linear acceleration
  • For joint-interpolated motion, the percentage of the maximum joint acceleration
Angular speed* Percent For straight line motion, the percentage of the maximum TCP rotational speed
Angular Acceleration* Percent For straight line motion, the percentage of the maximum TCP rotational acceleration

* Cannot be set when the motion basis equals time.

Accuracy Profile
An accuracy profile is created using New Accuracy Profile ; see Creating and Editing an Accuracy Profile. The purpose of the accuracy profile is to define the accuracy of a desired trajectory.  
When corner rounding is desired, users can select between two different algorithms to effect it. 
When Speed is the selected Accuracy Type or mode, the severity of the corner rounding effect is a function of the deceleration time. In the case of straight-line motion, if the accuracy value is set to 100%, then motion to the next point begins at the start of the deceleration profile, i.e., the robot does not decelerate. This produces the maximum radius for corner rounding. If the Accuracy Value is set to 50%, then motion to the next point begins when half of the deceleration time has elapsed, i.e., the robot will decelerates for half of the time required to come to a complete halt, and then it starts the next motion statement. If the accuracy value is set to 0%, then the move uses the standard acceleration/deceleration profile.
When the Distance is the selected Accuracy Type, the Accuracy Value defines the radius of a virtual sphere, centered at the position to which the TCP is being moved. The corner-rounding motion begins when the robot's TCP reaches any point on this virtual sphere. Therefore, when the value of distance is non-zero, the robot's TCP will never reach the programmed position. 
When you have set Flyby Mode = Off, you can still set the Accuracy Type and an Accuracy Value.  The system remembers these values, but does not use them until you set Flyby Mode = On.
The Accuracy Profile dialog box allows users to set the following options:

Option Acceptable values Explanation
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Flyby Mode On Selecting On means that the robot moves near, but does not stop at, a specific target (i.e., there is no deceleration; the target is a via point). In other words, motion is in flyby mode while the actual motion trajectory depends on the geometry of the path and values of kinematic parameters.

A special case is when Accuracy Value is set to zero. In that case, motion is considered point-to-point.
Off Selecting Off means the robot stops at the point, i.e., motion is in point-to-point mode regardless of the Accuracy Value and Accuracy Type settings.
Accuracy Type Distance Distance: As it moves near its target, the robot moves within a "virtual" sphere that has the target point as its center.
Speed Speed: The speed represents the extent to which the robot decelerates as it rounds the corner.  A speed of 0% enables the robot to move exactly to the target point; a speed of 100% means the amount of corner rounding is very large.
Accuracy Value For Distance : Radius of the target's surrounding sphere Accuracy Value represents the radius of the sphere. 
For Speed: Percentage of deceleration Accuracy Value is a percentage of the deceleration speed at which corner rounding should begin.

 

 

Object or Reference Frame Profile
  An object or reference frame profile is created using New Object Profile ; see Creating and Editing and Object Profile.
  This profile is used to define a frame, which is used as the base of the robot.  The inverse kinematics are solved using this offset from the robot base.
  The coordinate definitions can be linear or Cartesian.
  If you select the Apply to all Targets check box in the Offset Mode area, the offset is calculated for both Cartesian and joint (tag) targets.  Otherwise, the offset is only calculated for the Cartesian targets.
  In the Reference area, the Coordinates can be set with respect to (w.r.t.) either the Base or the World.
 

Auxiliary Devices
Data about auxiliary devices is added to the robot controller using Define Auxiliary device ; see Defining Auxiliary Devices.
The purpose of adding the auxiliary devices to the robot controller is to account for their effects on the robot movement. 
The Define Auxiliary devices dialog box allows users to set the following options:

Option Acceptable values Explanation
Robot Robot in the .CATProcess file The robot can be selected from the PPR tree or the geometry.
Selected auxiliary device Device in the .CATProcess file The device can be selected from the PPR tree or the geometry.
Available types: End of arm tooling

Rail/Track/Gantry

Workpiece Positioner

 Selected from Available types list.
 

Robot Controller Properties
  "In V5 the internal motion planner supports only Absolute Shortest Angles and Turn Numbers as the two types of interpolation. The others fields that are visible in the Controller Properties are for OLP and RRS usage."

If you right-click on a robot controller in the PPR tree and select Properties, you can see the robot controller's properties.
  The robot's heart beat is used for simulation purposes and can be set from the Properties dialog box.