Standard profile for positioning

INFORMATION

For the "standard profile for positioning" it is necessary that a standard program with the corresponding number of path segments has been loaded. See also chapter Loading a standard program.

The standard profile for positioning can be used to easily position the software module from the higher-level controller. The path is managed by the higher-level controller and transmitted to the software module. The interface and the SRL program are predefined.

The path is composed of path segments. Each path segment is defined by a target pose, a blending distance, and a motion parameter set. See chapter Loading a standard program. The path is covered at the start. Next, further paths can be transmitted and started. For further information on control, refer to the chapter Process sequence.

The path consists of motion sequences (without stopping) that are specified by the higher-level controller during runtime through path points and blending ranges. Various enables control when the robot performs which movements. The speed and acceleration at which the robot travels along these path segments is defined by preconfigurable sets of motion parameters. The higher-level controller specifies the number of the motion parameter set to be used for each path segment. For example, data sets for rapid speed, creep speed or gripping movements can be defined.