Basic Characteristics RAPID

The zone for reorientation of the tool
Reorientation starts as soon as the TCP reaches the extended zone. The tool is
reoriented in such a way that the orientation is the same leaving the zone as it
would have been in the same position if stop points had been programmed.
Reorientation will be smoother if the zone size is increased, and there is less of a
risk of having to reduce the velocity to carry out the reorientation.
Figure 2a Three positions are programmed, the last with different tool orientation.
Figure 2b If all positions were stop points, program execution would look like this.
Figure 2c If the middle position was a fly-by point, program execution would look like this
The zone for external axes
External axes start to move towards the next position as soon as the TCP reaches
the extended zone. In this way, a slow axis can start accelerating at an earlier stage
and thus execute more evenly.
Reduced zone
AAAA AAAAA
AAAAAAAAAAAAAAAAA AAAA AA AAAA A A
AAAA AA AAAAA
Zone size
AAAA
AAAAAAAAAAAAAAAAAAAAA AAAAA
A
AAAA AAAAA
With large reorientations of the tool or with large movements of the external axes,
the extended zone and even the TCP zone can be reduced by the robot. The zone
will be defined as the smallest relative size of the zone based upon the zone components
(see next page) and the programmed motion.
pzone_ori
The relative sizes of the zone are
________________________
zone_ori
angle of reorientation P1 - P2
= 9o /25o P1
MoveL with 200 mm movements
of the tool, 25
90 mm
________________________
pzone_tcp
length of movement P1 - P2
= 60/200 = 30%
= 36%
o reorientation of
the tool and with zone z60
________________________
pzone_ori
length of movement P1 - P2
= 90/200 = 45%
Figure 3 Example of reduced zone to 36% of the motion
60 mm
pzone_tcp
7-zonedata-2 RAPID Reference Manual
9 o
zone_ori
P2