V+ 12.4 Release Notes

Changes to AdeptMotion Device Modules

The PUMA robot module has been enhanced to support continuous turning of the final joint (the tool Z rotation). This modification applies for both 5- and 6-joint robot configurations.

This feature has been implemented using the V+ continuous-turning capability formerly introduced with the JTS robot module. Please refer to the AdeptMotion VME Developer's Guide for information on restrictions, configuration, and use (e.g., recommended range of encoder roll-over values, when a roll-over is detected and corrected, etc.).

Due to limitations in the implementation of this feature, continuous-turning of the Z rotation is not compatible with the most general case of coupling between the PUMA wrist axes. Continuous turning of the Z axis functions properly only for robots where the Z axis can be turned without affecting the value of any other joint or motor. However, it is okay if moving another joint or motor affects the position of the Z joint or motor. Specifically, for a 6-axis PUMA robot, rotating joint 6 should result in a change in the encoder counter for only motor 6. However, if joints 4 or 5 are rotated, a required change in motor 6 is permitted.

To enable continuous turning of the Z rotational joint, follow the steps below:

1. The many-turn Z-rotation joint robot option bit must be turned on (bit 4 counting from 1).

2. The roll-over joint value for the last joint must be set to a nonzero roll-over value.

Continuous turning is supported only on the Z-rotation wrist joint.