Gets and sets the constraint 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_object.InRange =<new_value>
-or-
...profile_object.InRange
Prerequisites
Takes effect when the profile_object is passed as a parameter to a Move Class method and the specified motion segment is generated.
Parameters
None
Remarks
Whenever the robot picks up a part or places it at its final destination, the robot should normally be brought to a complete stop and any small position errors should be eliminated (nulled) before the part is grasped or released. Conversely, if the robot is moving through intermediate (via) positions simply to clear obstacles, bringing the robot to a stop at these positions increases the cycle time without providing any benefit. Also, when the robot is to be brought to a stop, there are instances where it is beneficial to spend more time reducing the final positioning errors to the tightest possible position constraint for the robot and other times when a looser constraint is acceptable to save cycle time.
The InRange property specifies if the robot is to stop at the end of motion and, if so, how tight a position error constraint should be applied to determine when the robot has reached its final destination. The value of this property is interpreted in Table 19-69.
| InRange Value | Interpretation |
|---|---|
|
<0 |
Don’t stop the robot at the end of the motion. Blend with the next motion if possible. |
|
0 |
Stop the robot at the end of the motion, but do not apply any position error constraints. This means that as soon as the final set point command has been issued to the servos, GPL will signal that the motion has been completed. |
|
Small number >0 |
Stop the robot at the end of the motion, but use a very small (loose) position error constraint. This will ensure that the robot has approximately reached the specified destination before GPL considers that the motion has been completed. |
|
Large number <= 100 |
Stop the robot at the end of the motion and apply a stringent position error constraint. If this value is 100, the robot will have to be within its tightest error envelope before GPL considers the motion completed. Values greater than 100 can be specified, but these require smaller error tolerances than are recommended by the manufacturer of the robot. |
When a New Profile is created, its properties are automatically set to reasonable default values. Normally, the InRange property defaults to 100. Therefore, the InRange parameter only needs to be altered if this default value is not appropriate.
Examples
Dim prof1 As New Profile ' Create new profile set to default values
prof1.InRange = 10 ' Stop at EOM, reduced requirement for inrange
Move.Loc (loc1, prof1) ' Perform motion to previously defined
' location, loc1
See Also