About Motion Attributes

The Set Motion Attributes dialog box can appear when you create a device move activity.  The defaults for motion attributes appear in the unavailable fields shown when the dialog box appears.  Once you select Yes in the Customize area, the fields become available. An explanation of the attributes follows.
Value Explanation
Customize No (the default) means accepting the default values, which appear unavailable.

Yes means you want to alter at least one of the default values.
Motion basis Speed (the default) Selecting speed means that the speed value (which must be expressed in terms of meter per seconds) is the average speed the device will use. The default value is 5m_s, but you can alter it by entering a new value in the box.

Time means that you provide a set time for the device motion, and the device calculates its speed to perform the move within that time. The default value is 5s, but you can alter it by entering a new value in the box.
Attributes Acceleration:
  • For straight line motion, the percentage of the maximum TCP linear acceleration
  • For joint-interpolated motion, the percentage of the maximum joint acceleration

Rounding:

  • The percentage selected represents the extent to which the device decelerates as it rounds the corner.  Rounding of 0% enables the device to move exactly to the target point; rounding of 100% means the amount of corner rounding will be very large.