Download Adept Cobra PLC600 User's Guide - pulsar.com.tr

Understanding Robot Motion Parameters
Table 10-1. Values Describing a Cartesian Location
Coordinate
Cartesian Coordinates
Absolute Motion (see Figure 10-2) Relative Motion (see Figure 10-3)
X
Y
Z
y
p
r
Defines a distance (in mm) from the
World origin (base of the robot) along
the X axis.
Defines a distance (in mm) from the
World origin (base of the robot) along
the Y axis.
Defines a distance (in mm) from the
World origin (base of the robot) along
the Z axis.
For SCARA robots (such as the <strong>Cobra</strong>
PLC), this value must be 0.0.
For SCARA robots (such as the <strong>Cobra</strong>
PLC), this value must be 180.0.
Defines a rotation in degrees about the
Z axis.
Defines offset distance along the X axis.
The offset is added to the X <strong>com</strong>ponent
of the current position of the robot (if it
is stopped) or the destination of the
current motion.
Defines offset distance along the Y axis.
The offset is added to the Y <strong>com</strong>ponent
of the current position of the robot (if it
is stopped) or the destination of the
current motion.
Defines offset distance along the Z axis.
The offset is added to the Z <strong>com</strong>ponent
of the current position of the robot (if it
is stopped) or the destination of the
current motion.
For SCARA robots (such as the <strong>Cobra</strong>
PLC), this value must be 0.0.
For SCARA robots (such as the <strong>Cobra</strong>
PLC), this value must be 0.0.
Defines a rotation in degrees about the
Z axis, which is added to the r
<strong>com</strong>ponent of the current position of
the robot (if it is stopped) or the
destination of the current motion.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 143