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fanuc

joint

vs

linear

motion

tuning

00:00:01

hey guys adam with

00:00:03

fanuc here uh we're gonna talk today

00:00:06

about joint motion versus linear motion

00:00:10

on your robot uh when to use one versus

00:00:14

the other

00:00:15

how it helps optimize cycle time

00:00:19

cycle path and even the the general

00:00:23

health and longevity of your robot and

00:00:26

how that all ties to how well

00:00:28

you discern your motion settings

00:00:32

so to do that um i want to do a lot with

00:00:34

a visual aid

00:00:36

so let's start with a program i'm going

00:00:38

to name it

00:00:39

fun remember if you are not having fun

00:00:43

you're doing it wrong and let's just

00:00:46

teach

00:00:47

us some basic points maybe let's just do

00:00:51

a little box here just

00:00:52

or some some square i'm gonna

00:00:56

teach the robot to follow a rectangular

00:00:58

path

00:00:59

by coming in here teaching a point

00:01:02

and you can see that fanuc has a default

00:01:05

four different ways to move that robot

00:01:09

to the point that i'm teaching the first

00:01:11

two

00:01:12

you can see are j for joint

00:01:15

and the second two are l for linear

00:01:19

and then each of them has an option

00:01:21

either a fine

00:01:23

or a cnt this means continuous

00:01:29

in general what we're saying between

00:01:31

fine and continuous

00:01:33

is if i teach a point as continuous

00:01:36

that means i want the robot to pass

00:01:38

through that point

00:01:39

we're just we're going somewhere we've

00:01:41

picked up a part we've got to get it to

00:01:43

the other end of the cell

00:01:45

move continuous uh fine means i'm going

00:01:48

to stop

00:01:49

somewhere and do work maybe i'm picking

00:01:52

up a part

00:01:53

i want to move fine to that part

00:01:56

and then close my gripper or open my

00:01:59

gripper etc

00:02:01

where we get that terminology why are we

00:02:04

calling fine

00:02:05

a fine why are we calling it that well

00:02:08

watch this little speed you know the

00:02:11

feed forward rate here

00:02:13

as i start slowing it down uh and some

00:02:15

of you may have noticed this

00:02:17

as you're jogging your robot to teach

00:02:20

points and you go

00:02:21

slower and slower and slower to really

00:02:25

get that robot into position you can

00:02:27

actually get to this part called

00:02:29

fine and what that is is every time you

00:02:32

click the key

00:02:34

the robot will move uh one

00:02:37

increment in that direction so if i tell

00:02:39

this robot to move

00:02:40

fine x plus

00:02:44

did you see it move it's almost it's

00:02:46

almost imperceivably

00:02:48

you know it's small but every time i

00:02:50

click it

00:02:51

that robot inches fine forward in fact i

00:02:55

can go

00:02:56

even more and do very fine

00:03:00

so this is how you can really dial in

00:03:02

your positions

00:03:04

and really get that robot where you want

00:03:06

that's the same terminology we're using

00:03:08

for the termination type is

00:03:10

i want to move the robot linearly

00:03:13

in a straight line very quickly in this

00:03:16

case

00:03:17

and then i want to stop there i want to

00:03:20

get to that point and stop

00:03:22

so let's teach a program with all linear

00:03:25

fines

00:03:27

and see what that looks like i'll move

00:03:29

my robot here teach

00:03:32

linear fine move it down here

00:03:36

teach when you're fine

00:03:38

[Music]

00:03:40

i'm not very good at right angles am i

00:03:43

teach linear fine and it doesn't really

00:03:46

matter if i'm not making a perfect

00:03:47

square i just i want to prove a couple

00:03:49

other points here

00:03:51

um you can see that i just taught a p5

00:03:54

which is the same as p4 but i can go in

00:03:57

here and change it to a one

00:04:00

and now i've closed the box so no so now

00:04:03

my program is p

00:04:04

one two three four one

00:04:07

and that's the sequence we have so right

00:04:10

now

00:04:11

uh we would expect that the robot moves

00:04:13

straight and then

00:04:14

pauses it each pauses momentarily at

00:04:17

each line

00:04:18

let's uh verify that and see how it runs

00:04:23

one two three four one super

00:04:26

so if you look um and by the way uh i am

00:04:30

gathering my tcp

00:04:31

trace my tool center point trace i'm

00:04:34

doing that by opening my run panel and checking these

00:04:37

boxes for collecting

00:04:39

trace if that's deselected then i won't

00:04:43

see where the robot went uh that's how

00:04:44

you can hide and

00:04:46

unhide that bonus feature for you

00:04:49

so here i am uh

00:04:52

not much of a rectangle guy but you can

00:04:54

see that that the robot is taking a

00:04:56

straight line and getting to its points

00:04:59

wonderful but you also see that this

00:05:02

robot is

00:05:04

very irky jerky when you have a

00:05:08

fine instruction there is a very clear

00:05:11

deceleration to the point and then an

00:05:13

acceleration out of the point

00:05:15

then a deceleration to a point and an

00:05:17

acceleration back out

00:05:19

and if you think about what that's doing

00:05:21

to the robot all of these axes are

00:05:23

working together

00:05:24

to start and stop and and maintain this

00:05:26

path

00:05:27

and they're trying to go 2 000

00:05:30

millimeters per second

00:05:31

with stopping in between it's kind of be

00:05:34

like

00:05:35

putting the accelerator of your car

00:05:38

right to the floor

00:05:39

mashing the throttle just to go to the

00:05:40

next stop sign

00:05:43

it's very hard with a lot of wear and

00:05:45

tear the servos get hot

00:05:47

you know they back feed you know the you

00:05:50

know regen circuit but they back feed the

00:05:52

electricity the reducers and gearboxes

00:05:55

have a lot of strain

00:05:56

and in general your cycle time stinks

00:06:00

your efficiency stinks if i walk into a

00:06:03

plant and i see a robot running like

00:06:05

this and i see it all irky jerky like

00:06:08

that

00:06:09

i know that i've got a novice programmer

00:06:11

on my hands and that we need to sit down

00:06:13

and and have a talk so how do you start

00:06:17

improving that

00:06:18

and when and why would you improve that

00:06:20

right

00:06:21

first thing i want to do is change these

00:06:25

from being fine to being continuous

00:06:28

c n t so here we go

00:06:32

c n i'm going to go through and just

00:06:34

turn them all to cnts real quick

00:06:37

wonderful okay

00:06:41

cnt you see has a number associated with

00:06:44

it

00:06:45

this is a scalar number it's not really

00:06:48

a hard and fast

00:06:49

measurement but it is a scalar anything

00:06:51

from a zero

00:06:53

up to a 100 and any number

00:06:56

in between that you like pick your

00:06:58

favorite number um

00:07:00

and uh what these numbers do is

00:07:04

the larger the number the

00:07:08

more blending the robot will do

00:07:11

of those uh path segments

00:07:15

and so if i were to rephrase this

00:07:18

the robot looks ahead so when this robot

00:07:21

is moving from position one to position

00:07:23

two while it's executing that line

00:07:27

it's already thinking ahead it's

00:07:30

reading ahead and says hey after i get

00:07:32

to two he wants me to go to

00:07:34

three and he wants me to blend that

00:07:38

i'm gonna blend my motion path between

00:07:40

two and three

00:07:41

same with going three to four same with

00:07:44

going four back to one

00:07:45

and what the robot will start doing is

00:07:49

the larger the number the earlier the

00:07:51

blend begins to occur

00:07:53

so let's start with a respectable number

00:07:56

i really like

00:07:57

cnt25s for robot motion and you'll see

00:08:00

why

00:08:02

execute

00:08:07

look what this robot just did it

00:08:10

never actually achieved p2

00:08:14

it never actually achieved p3

00:08:17

never actually achieved p4 but in

00:08:20

each instance what you can see it did is

00:08:23

it said

00:08:24

it saw that we were gonna start heading

00:08:26

this direction

00:08:28

i gave it a value that said hey you have

00:08:30

my permission to start blending these

00:08:32

corners

00:08:33

and it started smoothing the robot path

00:08:36

now obviously if i was doing a critical

00:08:38

assembly or a critical dispense or

00:08:41

critical debur application

00:08:43

that is not going to be my friend but if

00:08:45

i'm moving through space

00:08:46

i've picked up a part and i need to take

00:08:48

that part somewhere

00:08:50

this is going to start helping your

00:08:51

cycle time it's going to

00:08:54

start helping the robot

00:08:57

run more efficiently and it's just going

00:09:00

to start looking

00:09:01

better the robot's going to look less

00:09:03

robot-y it's going to

00:09:04

just blend it let's take this to

00:09:08

a higher degree let's blend earlier

00:09:15

perfect here we go and let's execute

00:09:20

that

00:09:22

look what happens so now we're starting

00:09:24

to get into a situation where we have a

00:09:27

very noticeable deviation from our

00:09:30

optimal path right we we talk

00:09:34

two points in a straight line and we're

00:09:37

getting way away from it we're even the amount

00:09:40

of time that we spend heading

00:09:41

toward the next point has been reduced

00:09:44

um

00:09:45

so another problem that i start seeing

00:09:47

with inexperienced programmers

00:09:49

is this they just start overshooting

00:09:52

they get overzealous with the cnt

00:09:55

or they use the robot defaults which

00:09:58

like i showed you earlier if you hit

00:10:00

point there's a default 100 which is probably

00:10:03

the worst

00:10:04

um but if you start writing your program

00:10:06

at a c t

00:10:07

100 look what we're going to get

00:10:12

whoa right that uh that

00:10:15

red path does not look like a rectangle

00:10:18

at all anymore

00:10:19

right so use these sparingly

00:10:23

uh when you're going to use a cnt 100

00:10:25

it's typically

00:10:26

you need to get somewhere very quickly

00:10:29

through space with a reckless abandon of

00:10:33

what you're doing there's nothing you're

00:10:34

going to hit there's nothing in the way

00:10:36

we just want to move smooth and fast

00:10:40

let's shift gears and change these from

00:10:42

being linears to being

00:10:45

joints and

00:10:48

you might be surprised at what we see

00:10:50

next so first

00:10:52

let's go back to what all our novice

00:10:55

programmers do they have everything as a

00:10:57

fine

00:10:58

and they have everything as a joint

00:11:03

it's not their fault no one ever told

00:11:05

them no one told them better so this is

00:11:07

what they get

00:11:09

all right so i'm about to hit play what

00:11:11

are your predictions

00:11:13

all right we're going to do joint fine

00:11:15

you saw what linear fine was

00:11:18

what's a joint fine going to do what's

00:11:19

going to be different

00:11:21

think about that before you even move on

00:11:23

a little little

00:11:24

exercise here here we go three two one

00:11:32

is that what you thought would happen

00:11:35

look what the robot has

00:11:36

actually done in this case

00:11:39

two of the line segments aren't even on

00:11:42

the table anymore

00:11:43

you can see that the back segment goes

00:11:46

up

00:11:47

and the front segment goes up these ones

00:11:49

at least stay on the table

00:11:51

but they're bowed way out adam why is it

00:11:54

doing that why is the robot going up and out and

00:11:58

around

00:11:59

i mean it's still getting to our point

00:12:00

right i have a fine termination so it's

00:12:03

going where it should go

00:12:05

but it's going to hit stuff along the

00:12:06

way this is ugly

00:12:08

it's doing that because the kinetic

00:12:10

algorithm

00:12:11

of a joint move within phanix motion

00:12:15

algorithm is all joints

00:12:18

start and stop at the same time

00:12:21

so think of this you have six different

00:12:24

joints that all need to turn on

00:12:26

ramp up to a hundred percent and then

00:12:28

ramp down to zero percent

00:12:30

because i'm fine and they all need to

00:12:32

start and stop

00:12:34

together well that's not going to be a

00:12:36

straight line

00:12:37

you get a straight line by limiting some

00:12:39

of the joints

00:12:40

and coordinating them and working

00:12:42

together some are fast

00:12:43

some are slow they need to work together

00:12:46

to get that linear path so when i do a joint

00:12:50

path you end up with this mess which is

00:12:53

almost never useful so if you're going

00:12:56

to be doing some work

00:12:58

that requires you to go down inside a

00:13:00

box or straight inside a machine

00:13:02

do not use joint moves to go into a

00:13:04

machine

00:13:05

you're you're guaranteed to not

00:13:09

approach you know if you're let's say

00:13:11

you're loading a part into a chuck

00:13:13

you are not getting into that chuck

00:13:15

cleanly or out

00:13:16

cleanly you're gonna hit stuff you need

00:13:18

a linear

00:13:20

well now let's let's have some fun let's

00:13:22

have a little bit more fun right

00:13:24

you're not having if you're not having

00:13:25

fun you're doing it wrong let's go to

00:13:28

the nth degree here guys

00:13:30

we are going to do joint with continuous

00:13:34

100

00:13:35

and again i want you mentally to think

00:13:37

about

00:13:38

what is going to happen when we have

00:13:41

joint which you know the robot already

00:13:43

takes weird arcs

00:13:45

and i want reckless disregard

00:13:48

for getting anywhere near my top

00:13:50

positions

00:13:52

you ready let's do this

00:13:59

is that what you thought was going to

00:14:00

happen uh

00:14:02

if you were a new user

00:14:06

with fanuc and you just taught a box

00:14:10

and you taught it with joint cnt100s and

00:14:12

you taught a box and you hit

00:14:14

go on that robot and you ended up with

00:14:16

this path

00:14:18

uh what would you think of our robots

00:14:21

so uh it's not the robot it's it's the

00:14:24

guy

00:14:25

driving the wheel um you see that the

00:14:27

robot

00:14:28

started taking that arc that we saw

00:14:30

earlier

00:14:31

but with disregard for p2 because it's a

00:14:34

cnt100

00:14:35

then it looked ahead and said oh my user

00:14:37

doesn't care about

00:14:39

p3 either so i'm going to go this way oh

00:14:41

shoot he doesn't care about p4 either i

00:14:44

guess i just got to go back

00:14:45

to p1 uh and it makes it back and has

00:14:48

this absolutely disgusting

00:14:51

borderline useless path i don't know

00:14:53

what you could ever do with that

00:14:55

um so don't do it now

00:14:58

before we wrap up typically at this

00:15:01

point

00:15:02

is when i get users saying adam you've

00:15:04

convinced me i will

00:15:05

never use a joint move ever again i will

00:15:07

do everything with linears

00:15:09

oh yeah you want to bet let's say

00:15:13

that we're in a situation where

00:15:17

we have all these are linear

00:15:22

okay because linear elites at least

00:15:24

gives you a

00:15:25

a good path right and it gets you where

00:15:27

you want to go

00:15:28

and you're a good programmer so you use

00:15:30

a low to mid-range

00:15:32

cnt value to make the robot smooth and

00:15:34

fast and happy with

00:15:36

without anything bad right so so you you

00:15:39

have a nice program

00:15:40

like this you say oh i got a great

00:15:43

program and i'm never going to use a

00:15:45

joint move

00:15:46

ever again and after i draw a box on

00:15:48

this table

00:15:49

i'm going to come over to this table and

00:15:52

i'm going to do everything

00:15:53

linear are you now

00:15:59

look what that robot would have to do

00:16:01

you draw your box

00:16:03

and now you're telling it to go straight

00:16:05

to that table

00:16:07

can't happen that robot cannot

00:16:10

go through itself with a linear command

00:16:14

in fact the robot is so smart

00:16:17

it won't even try if you wrote this code

00:16:20

said hey give me your box and then go to

00:16:22

that table linear look at the robot won't even try

00:16:27

here's my box and i've got a nice

00:16:30

big fault look at this fault got a

00:16:33

motion 17 fault with me i

00:16:35

cannot go there so the robot is telling

00:16:38

us says hey

00:16:39

you are telling me to go somewhere and

00:16:41

do something that i

00:16:42

can not do now typically at this point

00:16:46

i end up seeing users build in all these

00:16:49

extra points

00:16:51

they'll they'll have the robot move

00:16:54

linear out here and then they'll have it

00:16:57

move linear over here

00:17:01

and then they'll move another linear

00:17:03

here another linear here

00:17:06

and eventually they'll be able to get to

00:17:08

that table and they'll be

00:17:10

teach teach teach teach teach and

00:17:12

they'll have all these linear moves

00:17:15

and and maybe they think they know what

00:17:16

they're hey i'm i'm gonna do good i'm

00:17:18

gonna do linears with cnt100s and and

00:17:21

smooth it out and get it over there

00:17:22

they'll have this big fat code to go

00:17:24

from this table to that table

00:17:26

when in reality all you needed to do to

00:17:29

go from that table to that table

00:17:32

make it a joint the robot's smart enough

00:17:35

to do the rest

00:17:37

watch what this program does now

00:17:40

run we'll make our box first

00:17:44

and then we'll go to the other table

00:17:46

look at that

00:17:48

so when it was a linear it was a fault

00:17:51

it wasn't going to happen

00:17:53

and if you stayed thinking linear you

00:17:56

were going to have to chop chop chop

00:17:58

chop chop and do all these line segments

00:17:59

to

00:18:00

work your way around but if you just

00:18:02

tell it hey

00:18:04

joint get me over there then the robot

00:18:06

says hey i can get over there just by

00:18:08

turning j1

00:18:10

and i can just swing right back on over

00:18:12

and get the job done

00:18:13

look at this all other joints just

00:18:15

freeze up at that point

00:18:17

[Music]

00:18:18

and it just swings over so there is a

00:18:21

time and a place for your joint moves uh

00:18:23

if you know that you um

00:18:26

are going to pick apart and you need to

00:18:29

invert the wrist or something call a

00:18:31

joint move

00:18:32

flip your wrist or if you need to spin

00:18:35

the base go from one to the other

00:18:37

um you know do you need to flip the the

00:18:39

top around you know there's

00:18:41

there's a lot of times you can flip your

00:18:44

your tooling

00:18:45

um if you got if you're picking up a box

00:18:47

and you're palletizing and you want to

00:18:48

rotate that box 90 degrees do a joint

00:18:51

um there's a time and a place for both

00:18:54

and then there's fine tuning of both

00:18:57

by using your cnt and your fines

00:19:00

accordingly

00:19:02

guys i hope this helps you make super

00:19:05

smooth and sexy robot programs

00:19:09

i hope it helps you with your cycle

00:19:10

times and

00:19:12

makes everybody happy and as you move

00:19:15

forward

00:19:16

just experiment with it play with it and

00:19:19

as always

00:19:20

have fun coding

Description:

Learn how to optimize your cycle time, cycle path, and robot motion by appropriately using Linear and Joint motion statements where applicable. Also, see the effects of CNT values and FINE termination points.

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