Home› Programming
Discussion
Back to discussions page
Loïc
Posts: 34 Handy
Movement with time parameters; How it works? |
42 views
|
Answered | |
/ Most recent by matthewd92
in Programming
|
7 comments |

in Programming
Hello,
I've just noticed that we have three choice to set the parameter of a waypoint:
-The parameters by default which takes the speed and acceleration of the move command
-Specfic speed and acceleration if we need to modify the parameters for a waypoint
-Time parameter for the movement
How does the time parameter works?
If I set 2 seconds, I assume that the movement will be done in 2 seconds but what is the limit?
What happens if I set a time of 0.1 seconds for a movement of 2 meters?
Is there a limit in speed and acceleration? Will it keep the security parameters?
Any informations about this type of movement will be appreciated.
Regards,
Regards,
Loïc
I would assume that UR would still use all controls to prevent the robot from exceeding the safety speeds that are set but would use the maximum allowed speed and acceleration to make the move. It might also throw an error, I know when using script commands if you command a speed greater than it is allowed it just will not go that fast, it will only go as fast as allowed and you can actually see this with the speed slider where it will drop the value from 100% to a lower value on those moves.
I would recommend that you read the UR software manual which will give you more details.
Here is a curve extracted from the manual.
It would be great if someone from UR could tell us more about it, the possible errors/limits of this trajectory's type.
Your distributor should have some contact with UR to ask for precision if necessary. You should be able to ask for more details.