In order to move the robot in the standard position control mode, a program must specify the destination for the motion and some trajectory parameters. The trajectory parameters include values that specify how fast the robot is to move and what type of path the robot should traverse. As previously described, Location Objects are utilized to specify robot and part positions and orientations. In GPL, the trajectory parameters are captured in Objects that are instances of the Profile Class.
A Profile Object defines a motion’s peak speed, peak acceleration and deceleration, s-curve profile parameters, type of path (i.e. straight line or interpolated in joint angles), and a constraint specification used to define if the robot should stop at the end of the motion and when the robot is close enough to the final destination to be considered “in position”.
While a program can have a unique Profile Object for each motion, it is often desirable to create several, generic Profile Objects that can be repeatedly used throughout a project for similar types of motions. For example, you might create one Profile for retracting the robot, a second Profile for moving the robot at high speeds between intermediate (via) points, and a third Profile for final positioning of parts. The repeated use of generic profiles often simplifies performance tuning an application.
All of the properties and methods for the Profile Class are described in detail in the Reference Documentation section. Table 19-15 summarizes this information.
| Member | Type | Description |
|---|---|---|
|
profile_obj.Speed |
Property |
Sets and gets the peak motion speed specified as a percentage of the nominal speed. |
|
profile_obj.Speed2 |
Property |
Sets and gets the secondary peak motion speed specification as a percentage of their nominal speeds for selected axes during Cartesian motions. |
|
profile_obj.Accel |
Property |
Sets and gets the peak motion acceleration specified as a percentage of the nominal acceleration. |
|
profile_obj.Decel |
Property |
Sets and gets the peak motion deceleration specified as a percentage of the nominal deceleration. |
|
profile_obj.AccelRamp |
Property |
Sets and gets the duration for ramping up to the peak acceleration, specified in seconds. |
|
profile_obj.DecelRamp |
Property |
Sets and gets the duration for ramping up to the peak deceleration, specified in seconds. |
|
profile_obj.Straight |
Property |
Sets and gets the Boolean indicating if the robot is to follow a straight-line path. |
|
profile_obj.InRange |
Property |
Sets and gets the constraint value that specifies if the robot should be stopped at the end of the motion and when the robot is close enough to the final destination to be considered at its final position. |
|
profile_obj.Text |
Property |
Sets and gets a String value not used by GPL. Available for general use by applications. |
|
profile_obj.Clone |
Method |
Method that returns a copy of the profile_obj. |