Adept Quattro s650H Robot

Chapter 5 - System Operation
“Ambiguity” zones
Roll = 0° (tool flange = ±180°)
Roll = -5° to -5.2° Roll = +5° to +5.2°
Negative
Positive
-90° +90°
Roll
Roll
Roll: -180° +180°
Center of tool flange rotation
(tool flange = 0°)
Figure 5-7. 185° Platform Ambiguity Zones
As examples:
• With the roll starting at +170°, an attempt to move to roll value -5.1 causes the
system to try to rotate 175.1° (the shorter distance), through roll values 160, 150,
140, ..., 10, 0, to -5.1. However, the maximum possible rotation in that direction is
175°, so the error “*Location out of range*” results, and no motion occurs. An
initial motion to any negative roll value outside the “ambiguity zones” (and not
between the zones) will permit you to command a second, valid motion to the
desired destination. See the following figure.
“Ambiguity” zones
Roll = 0°
Roll = -5° to -5.2° Roll = +5° to +5.2°
Move from
Negative
-90° +170 to -5.1 +90°
Roll
is not valid
Roll: -180°
Roll = +170°
+180°
Figure 5-8. Invalid Move
78 Adept Quattro s650H Robot User’s Guide, Rev A