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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