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Robot Concepts
Table 10-2. Values Describing a Joint Location
Joint
Joint Coordinates
Absolute Motion (see Figure 10-4) Relative Motion (see Figure 10-4)
J1
J2
J3
J4
J5
J6
Defines translational (mm) or rotational
(deg) position for Joint 1. For SCARA
robots this is a rotational joint angle.
Defines translational (mm) or rotational
(deg) position for Joint 2. For SCARA
robots this is a rotational joint angle.
Defines translational (mm) or rotational
(deg) position for Joint 3. For SCARA
robots this is a translational joint position
in millimeters.
Defines translational (mm) or rotational
(deg) position for Joint 4. For SCARA
robots this is a rotational joint angle.
Defines translational (mm) or rotational
(deg) position for Joint 5. For a 4-axis
SCARA robot, this is not used.
Defines translational (mm) or rotational
(deg) position for Joint 6. For a 4-axis
SCARA robot, this is not used.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 1.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 2.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 3.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 4.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 5.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 6.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.
144 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B