4 MLX200 Programming Guide
4.1 Developing a Simple Application
4-10
168542-1CD
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MLX200 Software and
Operations
4.1.5.2 Example 2: 4-Axis Palletizing Robot
While the 4-Axis Palletizing robots do not have different closures within
their work-spaces, they do have a +/- 360 degree range on their T-Axis
which can lead to multiple axis solutions. In this case, the Reference
Position can be used to control how the T-Axis will move during
MLxRobotMoveLinear commands. Consider the 90 degree rotation
between two points shown in Figure 6. Here the Reference Position acts
to determine the final T-Axis solution for the robot. In this case, it will move
90 degrees to the target position.
Fig. 4-13: 90 Degree T-Axis Rotation
However, the same TCP position can be reached by rotating the T-Axis in
the opposite direction 270 degrees (+/- 360 degrees will yield the same Rz
position). Thus, this opposite rotation can be achieved by supplying the
reference position shown below.
Fig. 4-14: 270 Degree T-Axis Rotation
In the case of an all-zero Reference Position, the robot will
take the shorter rotation direction.
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