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6.2
Joint Motions
Joint 1
Joint 1, also referred to as the "shoulder," provides rotation of the inner link. Joint 1
motion is limited to ±100°. See Figure 6-10.
Joint 2
Joint 2, also referred to as the "elbow," provides rotation of the outer link. Joint 2 motion is
limited to ±140°. Joint 2's motion is similar to an elbow capable of acting in both left- and
right-hand configurations (see Figure 6-11).
When you teach a robot location, the robot elbow (when viewed from the back of the
robot) will be pointing either to the left or right. These arm orientations are referred to as
"Lefty" and "Righty." In Figure 6-11, the dotted outline is in a lefty configuration and the
solid outline is in a righty configuration. Under program control, the robot will always
move to the next location in its current configuration (lefty or righty) unless the location is
a "precision point" or the LEFTY or RIGHTY program instruction is used.
Figure 6-11. Joint-2 Motion and LEFTY/RIGHTY Configurations
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100°
Figure 6-10. Joint-1 Motion
Lefty
Back of Robot
Adept 550 Robot Instruction Handbook, Rev A
Joint Motions
100°
Righty
91
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