I need to increse speed of robot by 20%. Now i am using 100% PTP motion but need to increase speed to minimize cycle time.
I am aware of effects of this on robot but still i need to check how it works exactly.
You can try changing robot's axes speed values, but this, of course, needs to be changed in the real robot too.
Check if your robot has motionparameter.e file (inside robot's cojt folder) and there you'll probably find axes speed values to edit . Otherwise, you can change these values in Kinematics Editor, inside PS.
This will lead your simulation to go faster.
please tell us how to change the motionparameters.e for KUKA in *.cojt folder.
the following is the information in the motionparameters.e in *.cojt folder of VW KUKA.
default_config dont_care ;
use_config dont_use ;
config_family cf_over_head_pos ;
joint_config_family j3 joint_cf_elbow_up ;
joint_default_config j3 dont_care ;
joint_config_family j5 joint_cf_pos ;
joint_default_config j5 dont_care ;
default_turns j1 0 0.0, j4 0 0.0, j6 0 0.0;
joint_default_turn all 0;
joint_default_turn j1 5;
zone_define fine no_smooth;
zone_joint_type medium dist ;
zone_joints_param medium 0.052 0.052 0.052 0.052 0.052 0.052 ;
zone_type medium dist ;
zone_cart_param medium 20 ;
zone_joint_type coarse dist ;
zone_joints_param coarse 0.157 0.157 0.157 0.157 0.157 0.157 ;
zone_type coarse dist ;
zone_cart_param coarse 50 ;
zone_joint_type nodecel speed ;
zone_joints_param nodecel 99.0 99.0 99.0 99.0 99.0 99.0 ;
zone_type nodecel speed ;
zone_cart_param nodecel 99 ;
Sorry for my late reply.
I'm not an expert on motionparameter files (and actually I'm not working with robots, I'm working with different machines), but, after having a backup of your original motionparameter file, you can try adding something like:
joint_vel_prof all max_acc_prof; joint_basic_speed j1 1000; joint_basic_acc j1 1000; joint_basic_dec j1 1000; joint_basic_speed j2 1000; joint_basic_acc j2 1000; joint_basic_dec j2 1000; joint_basic_speed j3 1000; joint_basic_acc j3 1000; joint_basic_dec j3 1000; joint_basic_speed j4 1000; joint_basic_acc j4 1000; joint_basic_dec j4 1000; joint_basic_speed j5 1000; joint_basic_acc j5 1000; joint_basic_dec j5 1000;
And change the values ("1000") to what you need. By the way, there's a pdf located under "\eMPower\Help\Additional Reference Material" that may help you understand functionalities about the parameter file.
Another thing to try, even before changing motionparameter file, is to check the speed defined in Process Simulate (because I'm not seeing it in the motionparameter file). Do it like this:
1 - Select the robot;
2 - Set Modeling Scope command
3 - Open "Kinematics Editor";
4 - Double click on a joint (the arrow between two links);
5 - Click on the left bottom arrow of the new form to expand it;
6 - You'll find "Max Values" for speed and acceleration, which you can modify
Thanks for your reply and help sincerely.
I would do it according to your suggestion.
@ Hello GillesVelay,
Can you tell me the difference between Tecnomatix internal motion planner (MOP) and robot vendor RCS Module?
Thanks for your reply in advance.
When running a simulation with a Vendor RCS, the kinematics information (such as joint acceleration, etc...) from the motionparameters.e is not used. Instead the RCS gets this kind of information from the robot vendor dedicated machine data files (that you load from Robot Setup / Load Machine Data) for the dedicated robot.