Kinematics Kinematics The Kinematics area is used to configure the kinematic parameters for your robot. See your robot kin- ematic module documentation for details. The bottom section of the Kinematics area displays online help for the selected parameter. NOTE: Because online help for each parameter is provided directly in the editor, it is not duplicated in this documentation. ACE User's Guide, 3.6.x, 18316-000 Rev A Page 245 Item Description Free mode power off Robot power is turned off rather than disabling the individual amp- lifier. Execute CALIBRATE com- mand at boot Calibrate the robot after the V+ operating system boots.
Starting with V+ version 16.3D1, this is set by default on all Adept Viper and Adept Cobra s350 robots. This only works if the robot can calibrate with power off. It does not work on other Cobra robots because they have to move J4 during calibration. Check joint interpolated col- lisions While moving, check for obstacle collisions even for joint-interpolated moves. This causes slightly more CPU usage, if set, because it requires the robot to perform a kinematic solution that is not part of the nor- mal operation. Z-up during J4 calibration On Adept Cobra robots, J4 must rotate slightly during calibration. This causes J3 to retract before moving J4.
J6 multi-turn If your system has the multi-turn license installed, this bit allows infin- ite rotation of J6. Note that individual moves must be no more than 360 degrees. Software motor limits In robot models with multiple motors coupled to move a single joint, the standard joint motion limits may not be adequate to prevent the motors from hitting physical limits. In such cases, you may use soft- ware motor limits to restrict motor motion. Split X-axis Uses an extra motor to run a split X-axis.