Optimove motion control and speed settings

With Pally 3.4 It is possible to use OptiMove motion control with Polyscope 5.21 and newer.
When opening existing programs, OptiMove is disabled, and can be enabled in the Pally / Movement / Speed tab.
When creating a new program, OptiMove is enabled by default.

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OptiMove computes the fastest possible speed and acceleration within hardware limits and payload setting, which user can then scale down to the desired percentage.

The OptiMove motion control allows for a more dynamic acceleration and deceleration, and creates smoother moves with less jerk. The more fluent acceleration and deceleration also allows for higher travel speeds while reducing vibrations and loads on the robot and mounted equipment. The combined effect generally results in improved cycle times with more fluent motion and reduced strain on the robot.

As OptiMove computes the optimal motion profile for the robot given the positions and the loads, it is often not necessary to manually optimize speed and acceleration settings for cycle time improvements.

The OptiMove settings are specified in percent to simplify the usage and setup. The percentage settings used for calculating:

Speed - Sets the target travel speed as a percentage of the robot's maximum speed capability. Maximum speed in Pally will never be higher than maximum allowed speed in the safety settings of Ployscope.

Acceleration - Sets the target torque limits during acceleration and deceleration as a percentage of the robot's maximum power.

Approach Speed - Adjust the maximum allowed speed from the approach position to the target position

Approach Acceleration - Adjust the maximum allowed acceleration from the approach to the target position

Without Optimove you set the speed and acceleration with absolute values.

Max. Speed: Adjust the maximum allowed tool speed of the robot

Max. Acceleration: Adjust the maximum allowed acceleration of the robot

Smart Acceleration: Adjust how much the acceleration should be limited when moving large and heavy boxes. (with Optimove this feature is disabled as Optimove motion control takes care of this type of control. Smart acceleration is no longer needed)

• Fastest: the robot uses Maximum Acceleration whenever possible

• Fast: acceleration is limited for very large and heavy boxes attached to a very small gripper

• Medium: acceleration is limited for large and heavy boxes attached to a small gripper

• Slower: acceleration is limited for large or heavy boxes and/or when using a small gripper

• Slowest: the most restrictive setting that reduces the acceleration significantly.

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