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Tuning the motion behavior means to set up rules for the robot’s motions, for example,
constraints on the position or orientation of the tool. Generally, the MultiMove program will
obtain the smoothest motions with the fastest cycle and process times with as few constraints
as possible.
For procedures, see Motion Behavior tab on page 212.
Modifying the joint influences
The joint influence controls the balance of how much the robots will use their joints.
Decreasing the weight value for one axis will restrict the motion for this axis, while increasing
it will promote motion on this axis relative to alternative axes.
1. On the Home tab, click the Motion Behavior tab.
2. Expand the Joint Influence group by clicking its title bar.
3. In the Select Robot box, select the robot whose joint influence you want to modify.
The weight values for the robot axes are now displayed in the grid.
4. For each axis whose motion you want to restric or promote, adjust the Weight value. A
lower value restricts, and a higher value promotes, motions on that axis.
Modifying the TCP constraints
The joint influence controls the balance of how much the robots will use their joints.
Decreasing the weight value for one axis will restrict the motion for this axis, while increasing
it will promote motion on this axis relative to alternative axes.
1. On the Simulation tab, click the Motion Behavior tab.
2. Expand the TCP Constraints group by clicking its title bar.
The directions and rotations in which you can constrain the TCP’s motion are now
displayed in the grid
3. For each pose you want to constrain, select the Enable check box and specify the
constraint values (location in the TCP coordinate system). To use the values from the
current TCP position, click Pick from TCP.
4. Optionally, adjust the Weight value for the constraint. A low value results in a harder
constraint, while a high value allows a larger deviation.