Motion Control - ABB IRB 6400R Product On-Line Manual

2.3 Motion Control

TrueMove TM
Very accurate path and speed, based on advanced dynamic modelling. Speed
independent path. Flexible and intuitive way to specify corner zones (e.g. possibility to
have separate zone sizes for Tool Centre Point (TCP) path and for tool reorientation).
TM
QuickMove
By use of the dynamic model, the robot always and automatically optimises its
performance for the shortest possible cycle time. No need for manual tuning! This is
achieved without compromising the path accuracy.
Coordinate Systems
A very powerful concept of multiple coordinate systems that facilitates jogging,
program adjustment, copying between robots, off-line programming, sensor based
applications, external axes co-ordination etc. Full support for TCP attached to the robot
or fixed in the cell ("Stationary TCP"). Note that also joint coordinate movements
(MoveJ) are recalculated when a coordinate system is adjusted.
Singularity handling
The robot can pass through singular points in a controlled way, i.e. points where two
axes coincide.
Motion Supervision
The behaviour of the motion system is continuously monitored as regards position and
speed level to detect abnormal conditions and quickly stop the robot if something is not
OK. A further monitoring function, Collision Detection, is optional (see option "Load
Identification and Collision Detection").
External axes
Very flexible possibilities to configure external axes. Includes for instance high
performance coordination with robot movement and shared drive unit for several axes.
Big Inertia
One side effect of the dynamic model concept is that the system can handle very big
load inertias by automatically adapting the performance to a suitable level. For big,
flexible objects it is possible to optimise the servo tuning to minimise load oscillation.
Product Specification RobotWare for BaseWare OS 3.2
Motion Control
7