Adept s650HS Quattro - Manual (Page 99)

Chapter 5: System Operation
5.8 Quattro Motions
Straight-line Motion
Joint-interpolated motion is not possible with the Adept Quattro robot, because the positions of
all the joints must always be coordinated in order to maintain the connections to the moving
platform. Therefore, for the Adept Quattro robot, the V+/eV+ system automatically performs a
straight-line motion when a joint-interpolated motion instruction is encountered.
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+/eV+ software
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) and eV+. In addition to these instructions, the
OVERLAP and NOOVERLAP instructions have also been enabled, and are discussed in this
section.
These instructions apply with:
l Adept Quattro robots
l
P34 platform (PN 09068-x00)
l V+ system version 17.1 edit C (and later)
l eV+ (all)
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+/eV+ 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+/eV+ program instruction SINGLE
asserted. That is, when the following code is executed:
MOVE A
BREAK
SINGLE
MOVE B
Adept Quattro User's Guide, Rev F
Page 99 of 196