Quattro Motions; Straight-Line Motion; Containment Obstacles; Tool Flange Rotation Extremes - Omron Quattro 650H User Manual

6.8 Quattro Motions

6.8 Quattro Motions

Straight-line Motion

Joint-interpolated motion is not possible with the Quattro robot, 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 Quattro robot, 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, Quattro 650 HS Shown (units in mm) on page 138 and Work
Envelope, Side View, Quattro 800 HS Shown (units in mm) on page 139. Other obstacles can
be defined within this obstacle.

Tool Flange Rotation Extremes

Single and Multiple Program Instructions
The program instructions SINGLE and MULTIPLE have been enabled for the Quattro robot
with eV+. In addition to these instructions, the OVERLAP and NOOVERLAP instructions have
also been enabled, and are discussed in this section.
These instructions apply with:
Quattro robots
l
P34 platform (PN 09068-x00)
l
The diagrams that follow represent an overhead view of the tool flange on the P34 platform
(i.e., as seen from the robot base casting). The shaded area is the overlap zone of roll values.
The example eV+ code that follows includes BREAK instructions only to cause the motions to
go all the way to the destinations, that is, to eliminate any subtleties that might occur during
continuous-path motions.
The eV+ real-valued function ROBOT.OPR (2,1) returns the maximum tool-flange rotation
angle available with the current platform (e.g., 185 in the case of the P34 platform).
SINGLE Program Instruction
In Motion with SINGLE Asserted, (A) Roll = - 90 degrees, (B) Roll = 2 degrees, (C) Roll = + 90
degrees on page 125, the arrow indicates the counter-clockwise rotation that the tool flange will
take as the robot moves from location A to location B with the eV+ program instruction
SINGLE asserted. That is, when the following code is executed:
MOVE A
BREAK
SINGLE
MOVE B
124 Quattro User's Guide 09955-000 Rev. N