Cartesian Motion Specifications Menu

Adept SmartMotion Developer's Guide

Cartesian Motion Specifications Menu

The Adept SmartMotion system allows a mechanism to move in a Cartesian reference frame by coordinating the motion of several axes. From the manual control pendant, the robot can move in the modes called WORLD and TOOL which moves in an XY-Z frame referenced to the robot base and the end of the arm, respectively. From within a program, the motion instructions MOVES (pronounced "move s"), APPROS, and DEPARTS accomplish the same thing. The Cartesian Motion Specifications Menu allows you to specify values for the parameters used to control govern the operation of this type of motion.After entering values for the Cartesian Motion parameters, you should check them using the tests described in Test and Troubleshooting.

When a menu option is selected, the following information is provided on the screen:

Instructions for the specified option

Current value

Value range for the parameter if applicable

For details on a menu option, click the desired link in the following list to view the description:

Cartesian translation speed at SPEED 100

# Cartesian rotation speed at SPEED 100

Translation acceleration speed at ACCEL 100

Accel for # rotation at ACCEL 100

Max WORLD/TOOL pendant translation speed

Max WORLD/TOOL pendant rotation speed

Time to reach max WORLD/TOOL pendant speed

Min WORLD/TOOL pendant translation increment

Min WORLD/TOOL pendant rotation increment

Menu Options

Cartesian Speed and Acceleration

These parameters define various speeds and accelerations for Cartesian motion along a straight line path as commanded by the MOVES program instruction.

The number of specifiable Cartesian rotation speed and acceleration parameters depends on the device module type. For example, an XYZT device module has only one possible rotation (roll about the Z-axis), while a 6-axis articulated robot would have three possible rotations. See your device module documentation for the meaning of the Cartesian rotation speeds for your mechanism.

Cartesian translation speed at SPEED 100 specifies the maximum speed for the robot's tool tip during a Cartesian translation at SPEED 100. This value must be greater than 0.

# Cartesian rotation speed at SPEED 100 specifies the maximum speed at which the tool tip will rotate about a specified axis during a Cartesian motion at a rotational SPEED 100. See your device module documentation for additional information about this parameter.

Translation acceleration at SPEED 100 defines the maximum tool tip acceleration that can be achieved when ACCEL 100. This value must be greater than 0.

Accel for # rotation at ACCEL 100 defines the maximum rotational acceleration that can be achieved about a Cartesian axis when ACCEL 100 is specified. See your device module documentation for additional information about this parameter.

WORLD/TOOL Manual Control Parameters

These parameters determine the speed and acceleration settings that are used when a robot is moved manually using the MCP.

If the SLOW button on the MCP is pressed and the speed pot is pressed close to its center (minimum plus or minus speed), the robot will move the smallest specified increment and then stop. If the speed is increased, the robot will begin to move at a continuous rate equal to five times the smallest incremental motion per second. As the commanded speed is increased, the robot's speed will linearly increase until the robot is moving at 25% of the maximum specified speed. If the SLOW button is turned off, the robot's speed will be linearly interpolated between zero and the maximum specified speed.

In addition to the speed specifications, a parameter is provided which defines the manual control acceleration/deceleration rate.

WARNING: RIA (Robotic Industries Association, USA) safety standards require that mechanical devices not exceed a tool tip speed of 76.2 millimeters per second (3 inches per second) when operated under manual control. Some national regulations may require an even lower speed. Be sure to set both the maximum Cartesian translational and the maximum joint manual control speeds so the tool tip cannot exceed this limit even with the robot at full extension.