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.
INFORMATION
When initializing the MOVI-C® CONTROLLER (SEW_PRG.Init), the SRL variables used by the process data interface are assigned names that also provide information about the exact process data word and the bit. To view this, open the RobotMonitor after configuring and starting the MOVI-C® CONTROLLER and scroll to the corresponding position in the SRL variable list. This automatic naming can be deactivated in order to use customer-specific names by setting "Name used SRL variables automatically" in the "Fieldbus configuration" section of the "Fieldbus interface" > "Basic settings" configuration menu.
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. See chapter Process sequence for more information.
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 the path segments is defined by preconfigurable motion parameter sets. The higher-level controller specifies the number of the motion parameter set to be used for each path segment. For example, data sets can be defined for rapid speed, creep speed or gripping movements.
The length of the "standard profile for positioning" depends on the maximum number of standard path segments:
- n ≤ 2: Length = 16
- n ≥ 2: Length = 4+6×n
