4-Axis Rotary Palletizer Robot Device Module
This device module was changed in version 12.1 of V+ to eliminate linear drives from joints 2 & 3 and simplify the link dimension specifications to 5 parameters. This module replaces the old V4R module.
This robot module controls an articulated palletizer mechanism with four degrees-of-freedom. All four joints of the mechanism are revolute and a mechanical linkage maintains the orientation of the tool-mounting flange such that it is always pointed down in the direction of the -Z world axis.
Figure 1. Link Definitions and Dimensions for the 4R Robot
Module Specifications
Minimum V+ Compatibility:
V+ 12.2
V+ License Requirements:
Kinematics Modules License (PN 09961-00004)
Device Module File Name:
4R
Device Module Identification Number:
12
This number is displayed with the robot serial and model number after the system boots up and whenever the ID monitor command is issued.
Start-up Message
'4-Axis Rotary Palletizer'
The start-up message is displayed just after the system boots up.
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Last modified on: 01/25/2006
Copyright © 2006 by Adept Technology, Inc.
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