Adept Quattro s650H Robot
Adept Quattro s650H Robot User's Guide - Asimo.pl
Adept Quattro s650H Robot User's Guide - Asimo.pl
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Learning to Program the <strong>Adept</strong> <strong>Quattro</strong> <strong>Robot</strong><br />
• With the roll initially at +170°, a motion to roll value +5.1 causes the system to<br />
rotate 164.9° (the shorter distance), through roll values 160, 150, 140, ..., 10 to +5.1.<br />
See the following figure.<br />
“Ambiguity” zones<br />
Roll = 0°<br />
Roll = -5° to -5.2° Roll = +5° to +5.2°<br />
Move from<br />
Negative<br />
-90° +170 to +5.1 +90°<br />
Roll<br />
is valid<br />
Roll: -180°<br />
Roll = +170°<br />
+180°<br />
Figure 5-9. Valid Move<br />
As these examples demonstrate, it might or might not be possible to perform a tool<br />
rotation to an “ambiguity zone” with a single motion instruction. In order to avoid that<br />
uncertainty, the following approach should be used:<br />
• If necessary, the tool must first be rotated to a position on the destination side of<br />
the center angle of rotation of the tool flange.<br />
• A motion to the destination can then be performed.<br />
The two motions can be performed as one continuous-path motion, i.e., no break or stop<br />
motion is required.<br />
In summary, any move that attempts to end beyond the extreme of rotation possible, or<br />
up to 0.2° past that extreme, will generate a “Location out of range” error.<br />
5.8 Learning to Program the <strong>Adept</strong> <strong>Quattro</strong> <strong>Robot</strong><br />
To learn how to use and program the robot, go to the V+ Operating System User’s Guide to<br />
find information on basic operation of the V + Operating System. Also refer to the<br />
Instructions for <strong>Adept</strong> Utility Programs for information on using the <strong>Adept</strong> utility programs.<br />
For programming information, refer to the following manuals:<br />
• V+ Language User’s Guide<br />
• V+ Language Reference Guide<br />
• V+ Operating System Reference Guide<br />
<strong>Adept</strong> <strong>Quattro</strong> <strong>s650H</strong> <strong>Robot</strong> User’s Guide, Rev A 79