During on-site adjustment, the optimization methods on the robot side may vary depending on the brand of robot. However, some common approaches are listed below.
During initial adjustment, many transitional waypoints are often added for safety when moving the robot manually. However, many of these waypoints are unnecessary. You can verify the robot path by jogging the robot and skipping some of the waypoints deliberately. Then the unnecessary transitional waypoints can be removed.
For waypoints where position accuracy is not necessary, increase the blend radius as much as possible (the specific parameter value should be verified according to the actual situation). This enables the robot to optimize its path in Auto mode, smooth the path around the waypoints, reduce the robot’s acceleration and deceleration, and thus reduce the cycle time.
Note: For waypoints that require position accuracy, it is not advisable to optimize the blend radius, as this may result in collisions or triggering the signal at the wrong position.
In general, robots are set to either full load or no load by default. Setting the robot for full load will slow down the speed of the servo while ensuring the torque, whereas no load may result in collisions or overload warnings when the robot operates at high speeds. Therefore, it is essential to set an appropriate payload to enable the robot to operate at its maximum speed without triggering alarms. (The robot payload can be automatically measured by using built-in features or be manually configured. )
Reduce unnecessary wait time: For example, if the robot is currently at station B and needs to move to station A where signal detection should be performed before the operation. Besides, the signal only requires to be detected at a fixed time and doesn’t interfere with robot movement. In such a case, waiting for the signal detection at station B would waste time. Instead, signal detection can be performed as the robot approaches station A. This enables the signal detection to complete while the robot is in motion, reducing instances of robot halting and ensuring a smooth operation.
The joint motion is generally the fastest type of motion for the robot to move between two points, as it only requires each axis’s servo to move to the specified position based on the received pulse.
Note: The path with the joint motion typically follows an uncertain curve, so it should be validated in low-speed Manual mode.
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