Movement Planning

When a movement is commanded, for example with MC_MoveLinearAbsolute, the resulting velocity of the robot depends on the following factors:

• The maximum velocity, acceleration, and jerk configured for each axis of the axis group. (configured in the axis configuration).

  The upper bounds define for each axis how fast it is allowed to move. The other limits which are explained below can only reduce the effective limits. They cannot increase them beyond these bounds.

• The maximum velocity, acceleration, and jerk which are provided as inputs to the movement function block. These upper bounds define how fast the TCP can move along the path. They apply in addition to the limits of the individual axes.

• The current override (see MC_GroupSetOverride) and the ancillary limits for an axis group

  For a description of how all these limits are combined to compute the effective path and axis limits, see the help for SMC_GroupSetAncillaryAxisLimits, SMC_GroupSetAncillaryPathLimits, and SMC_GroupSetAxisLimitFactors.

• The programmed path of the robot

  For example, when blending between movements results in a very small curvature radius, the robot has to move slowly in order not to exceed the axis limits.