Post processor

This section explains some tips related to generating programs for Brooks robots.

Rounding

An input value of -1 determines that the robot will stop at the end of the motion and a stringent position error constraint will be applied (GPL code:prof1.InRange = 100).

An input value of 0 determines that the robot will not stop at the end of the motion and a blended movement will be executed (GPL code:prof1.InRange = -1).

A value between 0 and 50 of the input determines that the robot will stop at the end of the motion, but a small position error constraint will be applied (GPL code:prof1.InRange =inputvalue).

Any other value will generate a GPL codeprof1.InRange = -10, so the robot will stop at the end of the motion and a small position error constraint will be applied.

Speed and Acceleration

Information related to the maximum linear, angular, and joints speeds/accelerations of the Brooks PreciseFlex robots can be found by going to the Web Interface and following these steps:

1.Admin

2.Setup – Parameter Database

3.Robot

4.Joint/Cartesian control

5.Dynamic Parameters

6.DataIDs 2700, 2701, 2702, and 2703

The user can set the inputs of the RoboDK speeds/accelerations instructions using the values of the above DataIDs as references. The Precise post-processor will then use these values to calculate speed/acceleration as percentages of the maximum speed/acceleration for each robot, as requested by the GPL Profile class.

To change the limits used by the post processor, you can modify the post processor according to the specific robot you are using. By default, the post processor uses the limits of the PF400 and PF3400 robots. Refer to the//www.sinclairbody.com/doc/en/Post-Processors.html#PPEditorsection of the documentation to modify the post processor.

If input values less than 1 are used with linear and angular acceleration instructions, these inputs will be used as the duration in seconds for ramping up to the peak acceleration/deceleration (GPL code:prof1.AccelRamp/prof1.DecelRamp =inputvalue).

The image below gives further information related to the concepts written above and how the controller plans the trajectories that the robot must follow.