Configuring User Access 55 Configuring System Startup 55 Robot Concepts 57 The Coordinate System 58 Locations and Precision Points 58 Defining a Location 59 Workspace Coordinates 60 Basic Robot-Motion Parameters 61 Speed, Acceleration, and Deceleration 61 Approach and Depart 61 Arm Configuration 62 Location Precision 63 Continuous-Path Motion 63 Joint-Interpolated Motion vs. Straight-Line Motion 64 Performance Considerations 64 Understanding Conveyors (Belts) 66 Indexing versus Tracking Conveyors 66 Conveyor Terminology 66 Defining a Pallet Layout 68 Why is Gripper Orientation Important?
70 User Interface 71 Main Menu 72 File Menu 72 View Menu 73 Tools Menu 74 Help Menu 74 Objects and Object Editors 75 Workspace Explorer 75 Objects in the Workspace 85 Objects and Object Editors 92 Controller Editor 97 System Options 104 Gripper Editor 108 Note Editor 113 Robot Editor 114 System Startup Editor 119 User Manager Editor 125 Data Mapper Editor 129 Variable Editor 131 Adept AnyFeeder Object 138 FlexiBowl Feeder Object 144 IO Feeder Object 148 CAD Data Object 152 ACE User's Guide, 3.6.x 18316-000 Rev A Page 6