Chapter 5: System Operation NOTE : Once the theta drive shaft is installed, the J4 motor and the tool flange will always rotate together, so the software will know the orientation of the tool flange. Verify Robot Motions Use the pendant (if purchased) to verify that the robot moves correctly. Refer to the T20 Pendant User’s Guide for complete instructions on using the pendant. The Hornet 565 is a parallel-arm robot and, as such, individual joint motions are not allowed. If you attempt to move a joint in Joint mode, you will get an error message: JOINT OUT OF RANGE where is the joint that you attempted to move. Joints are identified in Major Robot Com- ponents on page 9.
l If one joint must be moved separately, release the brakes (while supporting the plat- form) and move the joint manually. l If the optional pendant is not installed in the system, you can move the robot using the Robot Jog Control in the ACE software. For details, see the ACE User’s Guide . Verify that the Teach Restrict speed limitation is working correctly by running the Teach Restrict verification procedure. Refer to the Teach Restrict Verification Utility on page 128.
5.8 Robot Motions Straight-line Motion Joint-interpolated motion is not possible with the Hornet 565, because the positions of all the joints must always be coordinated in order to maintain the connections to the moving plat- form. Therefore, for the Hornet 565, the eV+ system automatically performs a straight-line motion when a joint-interpolated motion instruction is encountered. Containment Obstacles The work space of the robot is defined by an inclusion obstacle. This is done because, unlike other robots, joint limits are not meaningful in defining the work space. The eV+ software defines a cone-like shape as a containment obstacle. This is actually the work envelope.
See Work Envelope, Side View on page 132 and Technical Specifications on page 131. Other obstacles can be defined within this obstacle. 5.9 Learning to Program the Hornet 565 To learn how to use and program the robot, see the ACE User’s Guide , which provides inform- ation on robot configuration, control and programming through the ACE software “point and click” user interface. For eV+ programming information, refer to the eV+ user and reference guides. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 83 of 156