Below 0 with Z-axis in world mode.

Forum discussion the 6-axis articulated Adept Viper s1700 robot

Below 0 with Z-axis in world mode.

Postby bilow » Tue Mar 19, 2013 1:41 am

Hi,

I like to know how to get below the 0 with the Z-axis in world mode. I know that we can do it with one joint in the Jog control.
But it is too difficult to work with Joint values instead of World values. The robot is resting on a platform which is 1 meter high.

I hope someone can help.
bilow
 
Posts: 7
Joined: Tue Apr 10, 2012 5:44 am

Re: Below 0 with Z-axis in world mode.

Postby mnoschang » Tue Mar 19, 2013 4:20 am

What problems are you having? Depending where you are in the work envelope, you may get an error from a joint "flipping" over. When using straight line motion, a joint cannot flip over the 0 barrier, so you will get an error. If you move to a different location in the work envelope, you may be able to drive down below 0 in world mode. Joint 5 may be of particular concern, so moving further out from the base may help. if not, you can use joint mode to drive Joint 2 down, then use the align command to bring the tool flange parallel to your mounting surface.
mnoschang
 
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Joined: Fri Jun 20, 2008 10:43 am


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