Adept s650H Quattro - Manual (Page 78)

Chapter 5 - System Operation
78 Adept Quattro s650 Robot User’s Guide, Rev B
Figure 5-7. Ambiguity Zone
As examples:
• With the roll initially at +170°, an attempt to move to roll value -0.05 will cause the
system to try to rotate 170.05° (the shorter distance)--through roll values 160, 150,
140, ..., 10, 0, to -0.05. However, the maximum possible rotation in that direction is
170°, so the error “*Location out of range*” will result, and no motion will occur.
(An initial motion to any negative roll value outside the “ambiguity zone” will
enable a second motion to the desired destination.) See
Figure 5-8 .
Figure 5-8. Illegal Move
Roll:
-90° +90°
Roll = 0° (tool flange = ±180°)
Roll = -0.1° Roll = +0.1°
“Ambiguity” zone
Negative
Roll
Positive
Roll
+180° -180°
Center of tool flange rotation
(tool flange = 0°)
Roll:
-90° +90°
Roll = 0°
Roll = -0.1° Roll = +0.1°
“Ambiguity” zone
Negative
Roll
+180° -180°
Roll = +170 °
Move from
+170 to -0.05
is not legal