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Robot Speed Settings Interface

What You See​

A user interface labeled "Robot Speed Settings" within the "Laminate 1, Ply 1" editing panel. It features a series of sliders and adjacent numerical values that represent different operational speeds for a robotic layup process. The parameters adjustable by the sliders are "Runway Speed," "Approach Speed," "Layup Speed," "Travel Speed," "Initial Feed Speed," along with "Homing Speed" as a percentage, and "Path Acceleration."

Robot Speed Settings with sliders for Runway, Approach, Layup, Travel and other speeds

Comprehensive robot speed configuration for all operation phases

What It Means​

This part of the interface is designed for precise control over the robot's motion speed during various stages of the layup process. Each speed setting caters to a specific phase of the operation.

Speed Parameters​

  1. "Runway Speed": 50 mm/s - How fast the robot moves to the starting point of the layup.

  2. "Approach Speed": 100 mm/s - Sets the speed at which the robot moves towards the layup surface.

  3. "Layup Speed": 250 mm/s - Determines how quickly the robot executes the actual layup of materials.

  4. "Travel Speed": 500 mm/s - The speed for moving between different layup points.

  5. "Initial Feed Speed": 100 mm/s - Influences the speed for the start of the material feeding process.

  6. "Homing Speed": 20% - Expressed as a percentage, adjusts the return speed to a home position relative to maximum possible speed.

  7. "Path Acceleration": 100% - Affects how quickly the robot can accelerate along its path, with 100% representing the maximum acceleration capability.

Speed Optimization Tips​

For Quality​

  • Lower layup speeds (100-200 mm/s) for better compaction
  • Reduced approach speeds for precise placement
  • Moderate accelerations to minimize vibration

For Productivity​

  • Higher travel speeds (400-600 mm/s) between operations
  • Increased runway speeds where quality isn't affected
  • Maximum safe acceleration settings

Material-Specific Guidelines​

Thermoset Prepregs:

  • Layup: 150-300 mm/s
  • Temperature dependent

Dry Fiber:

  • Layup: 200-400 mm/s
  • Higher speeds possible

Thermoplastic Tapes:

  • Layup: 50-150 mm/s
  • Requires heating coordination

Custom Home Position Setting​

What You See​

The interface section titled "Custom Home Position" from the "Laminate 1, Ply 1" edit settings includes input fields for robot joint positions (A1-A6) and external axes (E1-E6), with an option to "Enable Custom Home Position" and buttons for "Use current TCP" and "Use Global Home."

What It Means​

This tool allows defining a custom home position specific to the current task:

  • A1-A6 fields set angles for articulation joints
  • E1-E6 fields configure external axes positions
  • "Use current TCP" sets home to current tool position
  • "Use Global Home" uses predefined global position