ABB IRB 4400 - Page 18

Description
16 Product Specification IRB 4400 M98A/BaseWare OS 3.2
Motion performance
The QuickMove
TM
concept means that a self-optimizing motion control is used. The
robot automatically optimizes the servo parameters to achieve the best possible
performance throughout the cycle - based on load properties, location in working area,
velocity and direction of movement.
- No parameters have to be adjusted to achieve correct path, orientation and
velocity.
- Maximum acceleration is always obtained (acceleration can be reduced, e.g.
when handling fragile parts).
- The number of adjustments that have to be made to achieve the shortest possible
cycle time is minimized.
The TrueMove
TM
concept means that the programmed path is followed – regardless of
the speed or operating mode – even after an emergency stop, a safeguarded stop, a
process stop, a program stop or a power failure.
The robot can, in a controlled way, pass through singular points, i.e. points where two
axes coincide.
Coordinate systems
Figure 10 The coordinate systems, used to make jogging and off-line programming easier.
The world coordinate system defines a reference to the floor, which is the starting
point for the other coordinate systems. Using this coordinate system, it is possible to
relate the robot position to a fixed point in the workshop. The world coordinate system
is also very useful when two robots work together or when using a robot carrier.
Object
Z
Y
X
World coordinates
User
Z
Z
Y
Y
X
X
coordinates
coordinates
X
Y
Z
Base coordinates
Tool coordinates
Y
Z
Tool Centre Point (TCP)
X