6-Axis Take-Out Robot Module

This module controls a 6-Axis robot that consists of an over-head linear axis that positions 5 articulated, rotary axes. The first two rotary axes position the wrist in a world X-Z plane. The final three rotary wrist axes control the orientation of the tool flange relative to the orientation defined by the first two rotary axes. This geometric configuration is very useful for picking up parts from a pallet or conveyor belt and loading them into a processing machine when a full 6 degrees-of-freedom of motion is required.

Kinematics Module Number and Required Software License

Module number to be entered into the "Robot type" (DataID 116): 14

Required software kinematic license (entered using the web interface panel Utilities > Controller Options if not already installed): Complex Kinematics.

Kinematic Model

Axis Optional Max Range Description

1: S₁

No

Max double precision range

Linear axis that moves the robot in the direction of the World Y-axis. A positive change in the axis position results in a movement in the direction of the positive World Y-axis.

2: q₂

No

+/- 359.9°

Rotary axis that rotates the links of the robot about the World Y-axis. A positive change in the axis angle results in a positive rotation about the World Y-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.

3: q₃

No

+/- 359.9°

Rotary axis that rotates the outer link about the World Y-axis. A positive change in the axis angle results in a positive rotation about the World Y-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.

4: q₄

No

+/- 359.9°

Rotary axis that rotates the wrist about the outer link of the robot. When all of the axes are at their 0 positions, a positive change in this axis angle results in a negative rotation about the World Z-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.

5: q₅

No

+/- 359.9° but typically set to +/- 179.9°

Rotary axis that pitches the Tool orientation relative to the outer link of the robot. When all of the axes are at their 0 positions, a positive change in this axis angle results in a positive rotation about the World Y-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.

6: q₆

No

Unlimited but typically set to +/- 359.9°

Rotary axis that rotates the end-effector about the Tool Z-axis. A positive change in the axis angle results in a positive rotation about the Tool Z-axis. The center of this axis' travel can be arbitrarily set, although it is typically centered about 0, 180 or -180 degrees.

Axis	Optional	Max Range	Description
1: S₁	No	Max double precision range	Linear axis that moves the robot in the direction of the World Y-axis. A positive change in the axis position results in a movement in the direction of the positive World Y-axis.
2: q₂	No	+/- 359.9°	Rotary axis that rotates the links of the robot about the World Y-axis. A positive change in the axis angle results in a positive rotation about the World Y-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.
3: q₃	No	+/- 359.9°	Rotary axis that rotates the outer link about the World Y-axis. A positive change in the axis angle results in a positive rotation about the World Y-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.
4: q₄	No	+/- 359.9°	Rotary axis that rotates the wrist about the outer link of the robot. When all of the axes are at their 0 positions, a positive change in this axis angle results in a negative rotation about the World Z-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.
5: q₅	No	+/- 359.9° but typically set to +/- 179.9°	Rotary axis that pitches the Tool orientation relative to the outer link of the robot. When all of the axes are at their 0 positions, a positive change in this axis angle results in a positive rotation about the World Y-axis. The center of this axis' travel can be arbitrarily set, e.g. 0 or 45 or 180 or -135 degrees.
6: q₆	No	Unlimited but typically set to +/- 359.9°	Rotary axis that rotates the end-effector about the Tool Z-axis. A positive change in the axis angle results in a positive rotation about the Tool Z-axis. The center of this axis' travel can be arbitrarily set, although it is typically centered about 0, 180 or -180 degrees.

Parameter Database Values

The following table describes the Parameter Database values that are utilized to configure the kinematic module. Standard motion control parameters such as servo tuning values, limit stops, the homing specification, etc are not included in the table.

Parameter Database ID Parameter Name Description

2000

Number of axes

Must be set to 6.

2001

Split-axis mask

Not applicable.

2003

Axis mask

Not applicable.

2005

Motor linearity compensation

Not supported.

2006

Robot type special option flags

Not applicable.

2701 / 2703

100% Cartesian speeds and accels

Value 1: Cartesian 100% linear speed and acceleration of the robot's end-effector measured along any vector in X, Y and Z.

Value 2: Cartesian 100% rotation speed and acceleration of the Tool orientation about the Tool Z-axis. This is normally set to be equal to the joint control values for the 6th axis.

Value 3: Cartesian 100% rotation speed and acceleration of the Tool's yaw and pitch orientation. This is normally set to the lesser of the joint control values for the 4th and 5th axes.

Values 4-n: Not used.

16050

Kinematic dimensional constants

Value 1 (S₀): Vertical (Z) offset from the Z=0 plane of the World coordinate system to the height of the axis of rotation of the first rotary axis (q₂). Can be arbitrary set by the robot designer to establish the base of the World coordinate system.

Value 2 (a₁): Horizontal (X) offset of the first axis of rotation (q₂) measured along the World X-axis. Can be arbitrary set by the robot designer to establish the displacement of the first axis relative to the origin of the World coordinate system.

Value 3 (a₂): Length of the inner link measured from the axis of q₂ to that of q₃.

Value 4 (a₃): Offset of the center line of the outer link relative to the axis of rotation of q₃. This is the shortest distance from the center line of the outer link to the axis of rotation of q₃.

Value 5 (a₄): Length of the outer link measured from intersection of a₃ and a₄ to the center of the wrist, e.g. the intersection of the q₄, q₅ and q₆ axes of rotation.

NOTE: Any offset from the center of the wrist to the Tool mounting flange or gripper must be specified as part of the robot's Tool property.

Values 6-n: Not used.

16051

Tool set at restart

When the controller is restarted, this specifies the initial value for the position and orientation of the robot's tool center point relative to the intersection of the wrist joints, q₄, q₅ and q₆. For most simple tools, only the length of the tool needs to be defined by setting this parameter to: 0, 0, tool_length, 0, 0, 0.

NOTE: Any offset from the center of the wrist to the Tool mounting flange or gripper must be specified as part of the "tool_length" value.

16052

Base set at restart

When the controller is restarted, this defines how the base of the robot is positioned relative to the World coordinate system. Normally, this parameter is set to 0, 0, 0, 0, 0, 0.

NOTE: The Base property can only be used to translate the origin of this robot and cannot be used to rotate it.

Parameter Database ID	Parameter Name	Description
2000	Number of axes	Must be set to 6.
2001	Split-axis mask	Not applicable.
2003	Axis mask	Not applicable.
2005	Motor linearity compensation	Not supported.
2006	Robot type special option flags	Not applicable.
2701 / 2703	100% Cartesian speeds and accels	Value 1: Cartesian 100% linear speed and acceleration of the robot's end-effector measured along any vector in X, Y and Z.
Value 2: Cartesian 100% rotation speed and acceleration of the Tool orientation about the Tool Z-axis. This is normally set to be equal to the joint control values for the 6th axis.
Value 3: Cartesian 100% rotation speed and acceleration of the Tool's yaw and pitch orientation. This is normally set to the lesser of the joint control values for the 4th and 5th axes.
Values 4-n: Not used.
16050	Kinematic dimensional constants	Value 1 (S₀): Vertical (Z) offset from the Z=0 plane of the World coordinate system to the height of the axis of rotation of the first rotary axis (q₂). Can be arbitrary set by the robot designer to establish the base of the World coordinate system.
Value 2 (a₁): Horizontal (X) offset of the first axis of rotation (q₂) measured along the World X-axis. Can be arbitrary set by the robot designer to establish the displacement of the first axis relative to the origin of the World coordinate system.
Value 3 (a₂): Length of the inner link measured from the axis of q₂ to that of q₃.
Value 4 (a₃): Offset of the center line of the outer link relative to the axis of rotation of q₃. This is the shortest distance from the center line of the outer link to the axis of rotation of q₃.
Value 5 (a₄): Length of the outer link measured from intersection of a₃ and a₄ to the center of the wrist, e.g. the intersection of the q₄, q₅ and q₆ axes of rotation. NOTE: Any offset from the center of the wrist to the Tool mounting flange or gripper must be specified as part of the robot's Tool property.
Values 6-n: Not used.
16051	Tool set at restart	When the controller is restarted, this specifies the initial value for the position and orientation of the robot's tool center point relative to the intersection of the wrist joints, q₄, q₅ and q₆. For most simple tools, only the length of the tool needs to be defined by setting this parameter to: 0, 0, tool_length, 0, 0, 0. NOTE: Any offset from the center of the wrist to the Tool mounting flange or gripper must be specified as part of the "tool_length" value.
16052	Base set at restart	When the controller is restarted, this defines how the base of the robot is positioned relative to the World coordinate system. Normally, this parameter is set to 0, 0, 0, 0, 0, 0. NOTE: The Base property can only be used to translate the origin of this robot and cannot be used to rotate it.

Robot Configuration ("Config") Parameters

This kinematic module makes use of the following Location Config property flags to control how Cartesian positions and orientations are converted to joint angles since multiple sets of joint angles are possible:

GPL_Above, GPL_Below, GPL_Flip, GPL_NoFlip, GPL_Single.

Special Compensation

This kinematic module does support "Continuous Turn Axes" for the the last rotary axis: q₆.

This kinematic module does not support "Motor Coupling", "Linearity Compensation" or "Split-Axis Control".

This kinematic module does not support "Dynamic Feedforward" compensation (DFF).

Additional Considerations

This kinematic module does not utilize the Custom Kinematic Parameters accessed by Robot.Custom.

This kinematic module does not have any extra, independent axes so Move.Extra has no affect.

The Base Property of this robot type cannot be used to rotate the robot relative to the World coordinate system. It can only be used to translate this robot.