9
Joint 2
Joint 2, also referred to as the "elbow", is the pivot point between the
inner link and the outer link. Outer link travel is limited by hardstops
located on top of the inner link. Like Joint 1, travel is restricted to a total
of 300°. This motion can be likened to an elbow capable of acting in
either a left- or right-hand configuration. (Refer to Figure 2-3.)
The AdeptThree is capable of attaining a given location utilizing either a
right-hand ("Righty") or left-hand ("Lefty") configuration. However,
when V or V
+
moves the arm to a location, it must sometimes make
assumptions about which configuration to use. While this generally
produces the result desired by the Programmer, sometimes the system
assumption may differ from the Programmer's expectations. In those
cases, the Programmer must specify (within the program) "Righty" or
"Lefty" operation.
NOTE
For further information concerning right- and left-hand
configuration, refer to the chapter entitled, "Robot
Locations" in your V and V
+
Reference Guide.
Figure 2-3. Joint 2 Motion
Summary of Contents for AdeptThree
Page 1: ...AdeptThree Robot User s Guide PRELIMINARY VERSION...
Page 3: ......
Page 8: ......
Page 14: ...AdeptThree User s Guide 6 NOTES...
Page 21: ...13 Figure 2 7 Joint 3 Hardstop...
Page 25: ...17 Figure 2 11 AdeptThree Robot Working Envelope...
Page 28: ...AdeptThree User s Guide 20 NOTES...
Page 31: ...23 Figure 3 1 AdeptThree with Calibration Fixture...
Page 40: ...AdeptThree User s Guide 32 Figure 3 6 Mounting Spool to Floor Installation Detail...
Page 44: ...AdeptThree User s Guide 36 Figure 3 8 Quill Flange Dimensions...
Page 50: ...AdeptThree User s Guide 42 Figure 3 11 Tower Card User Signal and Voltage Lines...
Page 54: ...AdeptThree User s Guide 46 NOTES...
Page 57: ...49 Figure 4 1 Joint 3 and Joint 4 Lubrication...
Page 60: ...AdeptThree User s Guide 52 NOTES...
Page 64: ...Adept CC Controller 56 NOTES...
Page 68: ...AdeptThree User s Guide 2...