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5.8 Robot Motions
Straight-line Motion
Joint-interpolated motion is not possible with the Hornet 565, because the positions of all the
joints must always be coordinated in order to maintain the connections to the moving plat-
form. Therefore, for the Hornet 565, the 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 eV+ software
defines a cone-like shape as a containment obstacle. This is actually the work envelope. See
Work Envelope, Side View on page 136 and Technical Specifications on page 135. Other
obstacles can be defined within this obstacle.
5.9 Learning to Program the Hornet 565
To learn how to use and program the robot, see the
ation on robot configuration, control and programming through the ACE software "point and
click" user interface.
For eV+ programming information, refer to the eV+ user and reference guides.
Chapter 5: System Operation
Hornet 565 Robot User's Guide, 14608-000 Rev F
Page 88 of 160
ACE User's
Guide, which provides inform-
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