Question about Drop Height, Rise Height, and Cycle Time in MCR Performance Analyzer

[alvin.lim]

Hello everyone,

I’m new to MCR and have a question regarding the MCR Performance Analyzer static sequence cycle parameter.

I understand the theoretical meaning of drop height and rise height:

• Drop height: the vertical distance the robot moves down to pick/place an object
• Rise height: the vertical distance it moves up after the operation.

However, in the simulation, I don’t see any physical difference when I change these values, yet the cycle per minute (cpm) output changes.

I ran a test with a maximum height of 100 mm and varied the drop height:

• 1 mm - 41.7 cpm
• 50 mm - 40.3 cpm
• 99.9mm - 43.2 cpm

Any guidance or suggestions would be greatly appreciated.

Thanks in advance!

Regards,
Alvin

[marcel.voigt]

Hi @alvin.lim

The path difference is hard to see with some visual aid but it’s there!
If you add the PathTracker to you robot model and run it again you see the difference like I did below.

With a Rise Height = 0 the path goes directly into a rounded trajectory no vertical movement.
For Drop Height = 50 the robot is forced to make a straight vertical movement and then a linear move across to the next place position

With a Drop Height of 99.9 or 1 mm the trajectory just ends up more curved, a less rigid straight line which results in a higher overall path velocity and therefore CPM.

When you enable the ToolTip there is a bit of an explanation there for the table and a hint to look into the help for further details.

Help - Rounding Edges

[alvin.lim]

Hello @marcel.voigt ,

Thanks for the reply.

I’ve added the PathTracker, but I’m still not getting the clear rounding edge that you achieved. Could you share the parameters you used for the simulation?

These are the parameters I used:

Any idea what I might be missing?

Regards,
Alvin

[marcel.voigt]

Alvin,

two questions,

• which version of the Performance Analyzer are you using?
• which robot are you using?

There have been some some modification to the app and also the mappMotion version used inside MCR PA.
Your table layout is a giveaway that it’s an older version. You can find the version in the bottom left of the landing page.

[alvin.lim]

Hello Marcel,

I’m already using the latest MCR Performance Analyzer 6.1.0.4.

The robot I’m using for this is D4-ST21-1300 V6.0.2.

Strange that I can’t get the same robot movement path as you.

Regards,
Alvin

[marcel.voigt]

Hi @alvin.lim I know it has been a while but did you find out the issue?

I was reminded about our conversation and while testing the latest Performance Analyzer ran your scenario again.
Going thru your posts I noticed (no idea why I didn’t earlier ) the play icons in your pictures of the profile table that may explain the behavior you are seeing and I didn’t.

These play icons only show up when you have debug mode enabled under the Advanced tab.

With debug mode enabled the system won’t do the blending between points. If I enable the debug mode as well I see the same none blended profile.

Sorry I didn’t realize this back when we were trying to figure this out.
Recently we had a related report about a change in behavior when the debug mode is enabled and we added an icon on the Status panel to indicate when it’s active.

[alvin.lim]

Hello @marcel.voigt,

Yes deactivated debugging mode and it works.

Thanks for pointing that out!

Regards,
Alvin