User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 177
Table 10-1. Values Describing a Cartesian Location
Coordinate
Cartesian Coordinates
Absolute Motion
(see Figure 10-2)
Relative Motion
(see Figure 10-3)
X
Defines a distance (in mm) from the
World origin (base of the robot) along
the X axis.
Defines offset distance along the X axis.
The offset is added to the X component
of the current position of the robot (if it
is stopped) or the destination of the
current motion.
Y
Defines a distance (in mm) from the
World origin (base of the robot) along
the Y axis.
Defines offset distance along the Y axis.
The offset is added to the Y component
of the current position of the robot (if it
is stopped) or the destination of the
current motion.
Z
Defines a distance (in mm) from the
World origin (base of the robot) along
the Z axis.
Defines offset distance along the Z axis.
The offset is added to the Z component
of the current position of the robot (if it
is stopped) or the destination of the
current motion.
y
For SCARA robots (such as the Cobra
PLC), this value must be 0.0.
For SCARA robots (such as the Cobra
PLC), this value must be 0.0.
p
For SCARA robots (such as the Cobra
PLC), this value must be 180.0.
For SCARA robots (such as the Cobra
PLC), this value must be 0.0.
r
Defines a rotation in degrees about the
Z axis.
Defines a rotation in degrees about the
Z axis, which is added to the r
component of the current position of
the robot (if it is stopped) or the
destination of the current motion.
Table 10-2. Values Describing a Joint Location
Joint
Joint Coordinates
Absolute Motion
(see Figure 10-4)
Relative Motion
(see Figure 10-4)
J1
Defines translational (mm) or rotational
(deg) position for Joint 1. For SCARA
robots this is a rotational joint angle.
Defines a change in translational (mm) or
rotational (deg) joint position for Joint 1.
The change is added to the current
position of the robot joint (if it is stopped)
or the joint position at the destination of
the current motion.