User`s guide

Learning to Program the Adept Quattro Robot
Adept Quattro s650H Robot User’s Guide, Rev A 79
• With the roll initially at +170°, a motion to roll value +5.1 causes the system to
rotate 164.9° (the shorter distance), through roll values 160, 150, 140, ..., 10 to +5.1.
See the following figure.
Figure 5-9. Valid Move
As these examples demonstrate, it might or might not be possible to perform a tool
rotation to an “ambiguity zone” with a single motion instruction. In order to avoid that
uncertainty, the following approach should be used:
• If necessary, the tool must first be rotated to a position on the destination side of
the center angle of rotation of the tool flange.
• A motion to the destination can then be performed.
The two motions can be performed as one continuous-path motion, i.e., no break or stop
motion is required.
In summary, any move that attempts to end beyond the extreme of rotation possible, or
up to 0.2° past that extreme, will generate a “Location out of range” error.
5.8 Learning to Program the Adept Quattro Robot
To learn how to use and program the robot, go to the V+ Operating System User’s Guide to
find information on basic operation of the V
+
Operating System. Also refer to the
Instructions for Adept Utility Programs for information on using the Adept utility programs.
For programming information, refer to the following manuals:
• V+ Language User’s Guide
• V+ Language Reference Guide
• V+ Operating System Reference Guide
Roll:
-90° +90°
Roll = 0°
Roll = -5° to -5.2° Roll = +5° to +5.2°
“Ambiguity” zones
Negative
Roll
+180°-180°
Move from
+170 to +5.1
is valid
Roll = +170°