Configuring Maximum Path Velocity in MpRoboticsFlex FB

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1

Hello, Communitys.

In a 6-axis robot, each joint has different velocity and acceleration limits. When configuring the Maximum Path Velocity in MpRoboticsFlex, what value should be specified?

My Question is,

Maximum value from Group Features (Path definitions) can be used for this setting?

So does the user need to manually calculate a safe maximum path velocity based on the individual axis velocity/acceleration limits?

Or should the Maximum value be set to the lowest value among all the individual joint limits? (To avoid invalid parameter error etc…)

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2

Hello,

The MappMotion System calculates the Velocity Limit always in consideration to the active Limits (Axes, Path, …). The Mechanical Parameters are considered in this calculation. This limitation is active for all Group Movements and is done in backround, to save the mechanic.

This input “Velocity” in the MpRoboticsFlexParType is used to define the Maximum Movement Speed for a Jog/Move - Command started by this Functionblock.
It is descriped as a Maximum Path Velocity, because if the RobotLimits in the Configuration are lower it can happen that this Velocity is not reached. The real velocity could be lower due to other limits. But if this limit is the lowest, the Movement is limited by this Parameter.

If your Process is fine with the Robot moving very fast you can use the Velocity from the PathDefinition Feature.

Only the Jog, MoveDirect, MoveLinear are using this Parameter. The MoveProgram does always use the Feedrate in the Program and not this Input.

Greetings
Michael

3

Thanks Michael.

Based on your previous explanations, I would like to confirm my understanding.

  • The final motion speed (real velocity) is always determined by the lowest value among all active limit such as:
  1. The path velocity defined in MpRoboticsFlexParType.
  2. Individual joint velocity, acceleration limits
  3. kinematics or mechanical constraints
  4. Robotlimits defined in the configuration
  5. and so on..
  • Therefore, the path velocity paramter can be freely defined by the user as the desired maximum process speed, as long as it makes sense for the application, since the system will automatically ensure that the actual motion never exceeds the mechanical or configuration limits.

Could you please check it if this understanding is correct?

4

Hello,

yes i think that is a good summary. Well done!

You only missed to add the point with StartProgram were the Feedrate replaces the MpRoboticFlexParTyp - Velocity Input.

Greetings
Michael