Robotmaster X4 offers several major features including path optimization, processing speed enhancements and support for multiple rails and rotaries. Robot programs are easily optimized graphically without the need for point-by-point manual touch ups. Once again this new version sets a new standard for programming robots with the same ease and functionality as CNC Milling Machines.
Path Optimization
A graphical optimization feature has been added that displays the programmed trajectory as well as problem zones
- The user has the ability to drag the path around problem areas to easily create an error free program
- The following problem areas can be displayed and easily managed:
- Singularity
- Out of reach
- Joint limits
- Wrist flips
- Over travel
- Collisions
Interface
The following changes have been made to the robot configuration page:
- Check marks indicate which pages have been changed to facilitate tracking of changes within a session
- A rotation calculator has been added to convert between Euler angles, Rotation Matrix and Quaternion
Simulation
The following enhancements have been made to robot simulation:
- Simulation motion is smoother due to motion planner enhancements
- The points displayed on the move list correspond to the actual point numbers in the programs
- Toolpath tip tracing mode enables the user to see the trajectory of the TCP in space
External Axes
The following enhancements have been made to external axes:
- Ability to program up to 11 axes simultaneously
- Increased rails to a maximum of 3
- Increased rotaries to a maximum of 2
- Ability to support the following setups:
- Robot mounted on up to three rails and part mounted on up to 2 rotaries
- Robot on floor and part mounted on up to three rails
- Part mounted on robot and robot mounted on up to three rails
Part mounted on dual rotary tables
Robot Kinematics
Fully redesigned kinematics engine with the following enhancements:
- Support for any de-coupled (standard wrist) 6-axis robot
- Ability to enter calibrated robot parameters versus theoretical values
- Ability to process large programs in excess of 150,000 points quickly
- Calculation speed is 10 times faster versus previous version
Post Processors
The following enhancements have been made to the post processors:
- Greater control of where the tool is turned on/off for applications requiring tool activation at every path
such as welding, painting/spraying, dispensing and waterjet/laser cutting
- Output of comments and manual entry strings have been added to all posts
- Ability to process large programs in excess of 150,000 points quickly
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