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Intera 5.3
Tool Tip Speed
The tool tip speed is a measured at Sawyer’s tool plate when it is moving through space. There is
an unlimited number of variables that contribute to the measured tip speed, including pose of the
arm, end of arm tooling specs (weight, moment load, part presence, etc.), and speed settings in the
software. Here we show the measured tip speed under three conditions.
Task 1: Pick and Place task with joint acceleration set to Medium
A typical Pick and Place task where we simulate the robot is picking an object from a table, moving
approximately 120 degrees around J0, placing the object, and starting again. The joint acceleration
setting in the software is set to
medium
and the move is defined as a
joint
move. The payload is
zero. In this scenario, the maximum measured tip speed is 0.84 m/s as seen in the graph below.
Figure D-1: Chart showing the endpoint velocity for a specific task. This task is a standard pick and
place where the robot is rotating about 120 degrees around its base. The joint acceleration setting
is set to
medium
in the Intera software.
Summary of Contents for Sawyer
Page 15: ...8 Intera 5 3 Getting to Know Sawyer Hardware Overview of Your Robot ...
Page 16: ...9 Intera 5 3 Getting to Know Sawyer Dimensions ...
Page 17: ...10 Intera 5 3 Getting to Know Sawyer Sawyer Reach ...
Page 93: ...86 Intera 5 3 Train Pick and Place Patterns on the Head 11 Press OK to go to the next step ...
Page 104: ...97 Intera 5 3 Train Pick and Place Patterns on the Head You may now run the task ...
Page 134: ...127 Intera 5 3 TCP IP The Set To node in the Behavior Editor is used to output information ...
Page 138: ...131 Intera 5 3 Fieldbus Devices 3 Using a keyboard navigate to CONFIGURATION and press ENTER ...
Page 155: ...148 Intera 5 3 ...
Page 156: ...149 Intera 5 3 ...
Page 180: ...173 Intera 5 3 ...
Page 190: ...183 Intera 5 3 Fixed Data 112 From Robot ...
Page 206: ...199 Intera 5 3 Small Assembly 114 From Robot 115 To Robot ...
Page 207: ...200 Intera 5 3 Large Assembly 116 From Robot 117 To Robot ...
Page 208: ...201 Intera 5 3 Floats 118 From Robot 119 To Robot ...
Page 209: ...202 Intera 5 3 Strings 120 From Robot 121 To Robot ...
Page 218: ...Z Zero G button 16 17 Zero G mode 24 Zero Gravity mode 17 zoom reset 42 ...
Page 219: ......
Page 220: ...Last updated June 18 2018 Intera 5 3 User Guide Getting Started Rev A ...