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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 on page 120 and Work Envelope, Side
View, Quattro 800 HS Shown on page 120. 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 on page 107, the arrow indicates the counter-clockwise rota-
tion 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
The roll value of location A is -90 degrees and the roll value for location B is 2 degrees. One
way to think of this motion is that the tool flange will not "cross over" the zero-roll position as
the robot moves from location A to location B when SINGLE is asserted. This type of motion
can prevent the end-effector air lines from being stretched, and ensures that a part is always
Chapter 6: System Operation
Quattro User's Guide, 09955-000 Rev J
Page 106 of 212
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