User`s guide

robot arm to approach a location from directly above the board so nearby parts are not
disturbed. Assuming you were using a four-axis Adept robot, the instructions:
APPRO place, 50
MOVE place
DEPART 50
causes joint-interpolated motion to a point 50 mm above place, movement down to place,
and movement straight up to 50 mm above place.
If the instructions APPROS, DEPARTS, and MOVES had been used, the motions would have
been straight line instead of joint interpolated.
NOTE:Approaches and departs are based on the tool coordinate system, not the world
coordinate system. Thus, if the location specifies a pitch of 135 degrees, the robot will
approach at a 45 degree angle relative to the world coordinate system. For a description
of the tool coordinate system, see Yaw on page 168.
Moving an Individual Joint
You can move an individual joint of a robot using the instruction DRIVE. The instructions:
DRIVE 2,50.0, 100
DRIVE 3,25, 100
moves joint 2 through 50 degrees of motion and then move joint 3 a distance of 25 mm at
SPEED 100%.
End-Effector Operation Instructions
The instructions described in this section depend on the use of two digital signals. They are
used to open, close, or relax a gripper. The utility program SPEC specifies which signals
control the end effector. See the Instructions for Adept Utility Programs.
The instruction OPEN opens the gripper during the ensuing motion instruction. The
instruction OPENI opens the gripper before any additional motion instructions are executed.
CLOSE and CLOSEI are the complementary instructions.
When an OPEN(I) or CLOSE(I) instruction is issued, one solenoid is activated and the other is
released. To completely relax both solenoids, use the instruction RELAX or RELAXI.
Use the system parameter HAND.TIME to set the duration of the motion delay that occurs
during an OPENI, CLOSEI, or RELAXI instruction.
Use the function HAND to return the current state of the gripper.
Continuous-Path Trajectories
When a single motion instruction is processed, such as the instruction:
Motion Control Instructions
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
Page 181