READY program instruction READY program instruction Syntax READY Function Move the robot to the READY location above the workspace, which forces the robot into a standard configuration. Usage Considerations Before executing this instruction with the DO monitor command (DO READY), make sure that the robot will not strike anything while moving to the READY location. The READY instruction can be executed by any program task as long as the task has attached a robot. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the READY instruction causes an error.
Details This instruction always succeeds, regardless of where the robot is located at the time. A Cobra robot has the following configuration when it is at the READY location: l Joint 2 is close to 90 degrees l The axis of joint 3 is in the World X-Z plane (that is, Y = 0) l The alignment keyway in the end-effector flange is directed along the positive X axis (that is, the tool X axis is parallel to the world X axis) The following table lists the joint positions for the READY locations for various Omron Adept robots.
eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 428 Joint Cobra 350 Cobra 600 Cobra 800 Quattro 650/800 Viper 650/850 /1300 Viper 1700/ 1700D 1 -61.2° -43.5° -42.9° 0° 0° 0° 2 90.3° 96.8° 93.4° 0° -90° -90° 3 10.0 mm 10.0 mm 10.0 mm 0° 180° 180°