Installation and Commissioning

DescriptionMotion performanceThe QuickMove TM concept means that a self-optimizing motion control is used.The robot automatically optimizes the servo parameters to achieve the best possibleperformance 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 andvelocity.- 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 possiblecycle time are minimized.The TrueMove TM concept means that the programmed path is followed – regardless ofthe speed or operating mode – even after an emergency stop, a safeguarded stop, aprocess stop, a program stop or a power failure.The robot can, in a controlled way, pass through singular points, i.e. points where twoaxes coincide.Coordinate systemsYTool coordinatesZYXZTool Centre Point (TCP)ZBase coordinatesXZUsercoordinatesYZObjectcoordinatesYXYWorld coordinatesXXFigure 9 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 startingpoint for the other coordinate systems. Using this coordinate system, it is possible torelate the robot position to a fixed point in the workshop. The world coordinate systemis also very useful when two robots work together or when using a robot carrier.The base coordinate system is attached to the base mounting surface of the robot.The tool coordinate system specifies the tool’s centre point and orientation.Product Specification IRB 1400 M98/BaseWare OS 3.1 15