IF_FastMove - General Information

Overview

This chapter provides information on:

Configures the feature FastMove.

This interface can be used to configure and control the feature FastMove.

FastMove characteristics:

Currently supported on P-Series robots
Special move commands are used to send the movements to the robot. The commands calculate the maximum values for velocity, acceleration and deceleration for this movement.
You can limit the motion parameters. Therefore, you can use the methods of the robotic interface like SetMotionParameter. The user values are compared with the calculated values and the lesser value is selected.
The TCP acceleration limit can be used in addition to FastMove to limit the total acceleration on the TCP.
A tuning of the acceleration and deceleration is possible to compensate for effects that cannot be calculated, like friction, tolerances in motor torque and so on.
A save and load functionality for the tuning data is available to store and restore the tuned values.

Name	Description
FastMoveS	Calculate an elliptic pick and place spline.
FastMoveSExtended	Calculate an extended elliptic pick and place spline.
Configure	Configure the FastMove functionality.
SetParameter	Set parameters for the FastMove functionality.
GetParameter	Read parameters for the FastMove functionality.
RestartTuning	Restart the tuning of FastMove.
GetTuningData	Read the current tuning values.
SetTuningData	Load tuning values.

Name	Data type	Accessing	Description
xActive	BOOL	Get	The property returns TRUE when FastMove has been configured successfully.
xReadOnly	BOOL	Get / Set	The property can be used to switch the tuning process into a read-only mode. In this case the tuning no longer modifies values but keeps the present values.
xPreviousMovementTuned	BOOL	Get	The property returns TRUE when the previous movement is completely tuned. This means, that the movement cannot go faster and the tracking deviation was within the given limits.