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V+ 12.4 Release Notes |
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Changes to the V+ Manuals
The following corrections have been made to either the V+ language manuals or the V+ operating system manuals.
- Conveyor Tracking
- Disabling the HOLD Button on the MCP
- Corrections to Error Messages
- Corrections to Keywords
Conveyor Tracking
When you set up a robot to perform conveyor belt tracking, define the upstream and downstream belt windows such that the robot is able to reach all conveyor locations within the belt window. This is especially important for revolute (i.e., non-Cartesian) robots.
When a revolute robot approaches a position at the limit of its range of reach using a straight-line motion, the joint(s) corresponding to the fully outstretched links experience extremely high speeds. This is because these joints must make very large angular changes in order to achieve even small changes in the reach of the robot.
If the belt windows are set incorrectly, and the belt speed changes while the robot is moving to a belt-relative destination, you can force the robot to move to a position beyond its range of reach. When this occurs for a revolute robot, some joints of the robot are instructed to move at very high speeds just before the robot reaches the end of its range of reach. For a SCARA robot, this can result in joint 2 being instructed to move at very high speeds. As a result, by the time the system is able to detect the problem and decelerate the robot, joint 2 will swing through its zero position and overshoot the commanded destination.
Disabling the HOLD Button on the MCP
Occasionally, you may want to disable the HOLD button on the MCP. For example, the REACTE instruction will not react when the MCP HOLD button is pressed unless the you disable the HOLD button. You can disable the HOLD button using the KEYMODE instruction:
KEYMODE 25 = 4,1Corrections to Error Messages
The following error message has been removed:
It has been replaced by the following error messages:
Explanation: The indicated motor was not tracking the commanded position with sufficient accuracy, indicating a failure in the hardware servo system or something impeding the path of the robot. Because this is considered a serious error, high power was turned off.
User Action: Turn on high power and try to perform the motion at a slower speed. Make sure that nothing is obstructing the robot's motion. If the error recurs, contact Adept Customer Service.
Explanation: The indicated motor was not tracking the commanded position with sufficient accuracy, indicating a failure in the hardware servo system or something impeding the path of the robot. Because this was not considered a serious error, a controlled motion stop occurred and high power remains on.
User Action: Try to perform the motion at a slower speed. Make sure that nothing is obstructing the robot's motion. If the error recurs, contact Adept Customer Service.
Corrections to Keywords
Errors or omissions have been found in the descriptions of the following keywords in published manuals. Updated documentation for these keywords is provided in the section Changes to V+ Keywords.
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