Directechs PEAKROBOTICS KX-2, User Manual

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KX-2 Robot – User’s Manual
Peak Robotics, Inc.
4747 Centennial Blvd; Colorado Springs, CO 80919
Ph 719.598.3555,
www.peakrobotics.com Printed: 3/3/2021
Page 84
13.9 Unlimited Rotation
13.9.1 The Shoulder and Wrist of the KX2 robot have unlimited rotation. This allows
the robot to move the shortest distance between two points without the need
to unwind the joints.
13.9.2 In some cases, it may be desired to have one or more joints rotate the long
way around. If this is the case, it may be necessary to split the move into two
smaller moves, each of which are less than 180° for each joint, but together
are greater than 180°. The SetMoveJointDirection() function can also be
used to force each joint to move a specific direction, as follows:
•
Shortest Way
—The rotary axis will move the direction that results in
the smallest required angular displacement. For example, if the wrist
is currently at 355° and the commanded position is 5°, the wrist will
move a relative distance of -10° and will pass over the 360°/0°
rollover point.
•
CCW
—The rotary axis will move in the counterclockwise direction
regardless of the distance to be traveled. For example, if the wrist is
currently at 2° and the commanded position is 1°, the wrist will move
a relative distance of 359° in the positive (CCW) direction.
•
CW
—The rotary axis will move in the clockwise direction regardless
of the distance to be traveled. For example, if the wrist is currently at
1° and the commanded position is 2°, the wrist will move a relative
distance of -359° in the negative (CW) direction.
•
Normal
—The rotary axis will move in the direction that avoids
passing through the 360°/0° rollover point. This is useful in
applications where there is an obstruction that blocks the Shoulder
from moving through a certain region. The robot should be installed
in an orientation where the 0° position of the shoulder is facing the
obstruction.
13.10 Buffered Move Commands
13.10.1 If several moves are executed in a row, the pause time between moves can
be reduced by setting WaitUntilDone=False on all the moves except for the
last move. This will allow the move commands to be pre-calculated and
queued more efficiently. Automatic Move Error Recovery is not possible for
moves commanded with WaitUntilDone=False.