Adept s650H Quattro - Manual (Page 79)

Quattro Motions
Adept Quattro s650 Robot User’s Guide, Rev B 79
• With the roll initially at +170°, a motion to roll value +0.05 will cause the system to
rotate 169.95° (the shorter distance), through roll values 160, 150, 140, ..., 10 to
+0.05. See
Figure 5-9 on page 79 .
Figure 5-9. Legal Move
As these examples demonstrate, it might or might not be possible to perform a tool
rotation to the “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.
Roll:
-90° +90°
Roll = 0°
Roll = -0.1° Roll = +0.1°
“Ambiguity” zone
Negative
Roll
+180° -180°
Move from
+170 to +0.05
is legal
Roll = +170 °