adept technology Quattro s650H, Руководство пользователя

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Chapter 5: System Operation
Containment Obstacles
The work space of the robot is defined by an inclusion obstacle. This is done because, unlike
other robots, joint limits are not meaningful in defining the work space. The V+ version that
supports the Adept Quattro robot defines a cone-like shape as a containment obstacle. This is
actually the work envelope. See Figure 7-4 and Figure 7-5. Other obstacles can be defined
within this obstacle.
Tool Flange Rotation Extremes
Single and Multiple Program Instructions
The program instructions SINGLE and MULTIPLE have been enabled for the Adept Quattro
robot with V+ version 17.1 edit C (and later). In addition to these instructions, the OVERLAP
and NOOVERLAP instructions have also been enabled, and are discussed in this section.
These instructions apply with:
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Adept Quattro robots
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P34 platform (PN 09068-x00)
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V+ system version 17.1 edit C (and later)
The diagrams that follow represent an overhead view of the tool flange on the P34 platform
(i.e., as seen from the robot base casting). The shaded area is the overlap zone of roll values.
The example V+ code that follows includes BREAK instructions only to cause the motions to
go all the way to the destinations, that is, to eliminate any subtleties that might occur during
continuous-path motions.
The V+ real-valued function ROBOT.OPR (2,1) returns the maximum tool-flange rotation angle
available with the current platform (e.g., 185 in the case of the P34 platform).
SINGLE Program Instruction
In Figure 5-7, the arrow indicates the counter-clockwise rotation that the tool flange will take as
the robot moves from location A to location B with the V+ program instruction SINGLE
asserted. That is, when the following V+ code is executed:
MOVE A
BREAK
SINGLE
MOVE B
The roll value of location A is -90 degrees and the roll value for location B is 2 degrees. One
way to think of this motion is that the tool flange will not “cross over” the zero-roll position as
the robot moves from location A to location B when SINGLE is asserted. This type of motion
can prevent the end-effector air lines from being stretched, and ensures that a part is always
accessed from the same direction. This motion can also be used to position the tool flange in
preparation for the next motion.
NOTE: When SINGLE is asserted, the tool flange will always rotate in the direction
that does not cross the zero-roll position, even if that means a very large rotation.
Adept Quattro User's Guide, Rev E
Page 97 of 180