Smooth Robot Motion using Constant Path
Robots complete their programmed task moving from point to point along
a path. That path is then played back in various testing and automatic modes
in order to complete an application. Often factors, such as robot speed,
can cause the path to change during playback. When FANUC Robotics' Constant
Path feature is used, the robot maintains the same path regardless of static
or dynamic speed override changes. A path that has been taught and tested
at a low speed override, in teach mode for example, will be maintained when
the program is executed at maximum speed override in automatic mode. This
drastically reduces path teaching and verification time.
Constant Path also maintains the same path if the program includes instructions,
such as wait instructions for I/O for example, in order to modify playback.
This allows the robot to remain on the same path regardless of the wait time.
The same path is also maintained when the program is resumed after the motion
is interrupted by a HOLD or other event. This is extremely useful in a real
production environment where motion interruption events can occur randomly.
The Constant Path option, available for all applications, maintains an uninterrupted
In addition, FANUC Robotics also provides the Advanced
Constant Path option to give the user more direct control of the motion path
and cycle time. The Advanced Constant Path option consists of the following
The Linear Distance feature is useful for path control in many applications
such as palletizing – where typically the user wants to ensure a certain
distance along a straight line when picking up a part and when dropping off
a part. This prevents the part from hitting the bins. This feature is a
time saving tool during path teaching and verification.
Corner Region allows the user to have direct control/adjustment of the
amount of corner rounding between two Cartesian motion lines, by specifying
a distance from the taught position. The robot path will be maintained within
a sphere with the center at the taught position and the radius equal to the
value specified in the corner region instruction.
Process Speed is useful in situations where there is a need to improve
(or slow down) the cycle time while maintaining the same taught path. It
is most suitable for applications with continuous path motion that do not
normally use maximum program speed such as in sealing and waterjet cutting
The Max Speed feature is most suited for situations where the main objective
is to reduce the cycle time for long linear motions where it is not important
to maintain a constant speed along the path, and that some path deviations
are acceptable. An example is in a Load/Unload application. By relaxing
the requirement for constant linear speed, this feature can minimize the move
time on-the-fly along the linear path while staying within the maximum capability
of the robot.
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