2.9 Robot Control Native Control Feature Matrix

Smoothing

Smoothing within a move that has multiple waypoints

Y

Y

Smoothing between 2 move segments of a combined move

Y

Y

Smoothing of a queued move that has multiple waypoints

N (Queued moves not supported)

N

Smoothing between 2 queued moves

N (Queued moves not supported)

N

Queuing

Is queueing of combined moves supported

Y

Y

Queueing of regular moves

Y

Y

Blending of queued moves

N

?

Preset switching

Change of DOF

N

Y

Change of TCP

Y

Note: TCP_index >= 1.

Y

Note: 1 <= TCP_Index <= 10

Change of payload

Y (must be defined on the teach pendant)

Note: using TCP_index for payload switching. TCP_index >= 1.

Y.

Note: 1 <= Mass_Index <= 10

Preset switching between 2 move segments of a combined move

Yes unless:

• If we get explicit set robot state command while planning for same bot, we reject the change of preset

• If we are moving ( executing first  move ) , set robot state will be rejected

same as abb

Dependence on Acquire to synchronize presets on first acquire

Y

N

External Axis

Is external axis supported

N (External axis can be present, it just can’t be moved or changed by RTR)

Y

How many external axes are supported per robot preset

0 (External axis can be present, it just can’t be moved or changed by RTR)

3

Linear Moves

Supported without external axis

Y

Y

Supported with external axis

Y (External axis can be present, it just can’t be moved or changed by RTR)

Y

Auto-Acquire/Release

Is auto-acquire/release supported

Y

Y

Continuous Voxel Release

Is continuous voxel release supported

Supported for single edge moves and supported till first edge for multi-edge moves.

Beyond first edge,no voxel release would happen

Y

Retreat

Are alt. locations supported with complete move option

Y

Y

Are alt. locations supported without complete move option

Y

Y

Partial Moves supported

N

N

Triggers in a move command

N

N

Hold/Resume

N

N