Each of the joints represents a degree of freedom in the manipulator system and allows translation and rotary motion.ĭescribes a jointed device, such as a jointed manipulator. The arm itself does not include the end-effector.Ī manipulator with an arm that is broken into sections (links) by one or more joints. The actuator responds to a signal received from the control system.Īn interconnected set of links and powered joints comprising a robot manipulator that supports and/or moves a wrist and hand or end-effector through space. Note that this will not be exactly the same as the demand position, due to a multitude of unsensed errors, such as link deflection, transmission irregularity, tolerances in link lengths, etc.Ī power mechanism used to effect motion, or maintain position of the robot (for example, a motor which converts electrical energy to effect motion of the robot) (R15.07). The position or location of the tool control point. The induced motion modification is slight, but sufficient to facilitate the completion of a desired task. Accuracy is not constant over the workspace, due to the effect of link kinematics.Īn active compliant robot is one in which motion modification during the performance of a task is initiated by the control system. Accuracy is normally worse than the arm's repeatability. When the functional safety function is valid, the functional safety range can also be displayed.Ībsolute Data (ABSO Data) is a correction factor for data that establishes an indicated value of zero when the robot is at the predetermined Home (calibration position).Īccuracy is the measurement of the deviation between the command characteristic and the attained characteristic (R15.05-2), or the precision with which a computed or calculated robot position can be attained. By using the multi-window function, the job's teaching position displayed in the job content can also be confirmed on the 3D display window. Curiously, you don't have to restart Windows if you do it this way.Įdit: The latter method may look very different on Windows 10, sorry I missed that part.The 3D Graphic Display Function (henceforth described as 3D Display Function) is that, a 3D model of the robot is displayed on the programming pendant window, and the current value of the robot can be confirmed. You may want to disable a bunch of other useless animations here, too, but don't disable the "Smooth edges of screen fonts". In the "Performance Options" window, on the "Visual Effects" tab, deselect the first option, "Animate controls and elements inside windows".In the "System Properties" window (don't you just love consistency?), go to the "Advanced" tab and click the "Settings" button in the first section, "Performance".Click the "Advanced system settings" in the top left.The other way is through the System Performance Settings. Note that for Office 2016, the DWORD key is under HKEY_CURRENT_USER\Software\Microsoft\Office\16.0\Common\Graphics and it should be called DisableAnimations (plural). Hit OK and exit the editor, then restart Windows for it to take effect. Finally, double-click the DisableAnimation value and change the value to 1.With the Graphics key selected, right-click on the right side of the editor and create a new DWORD value.If there's no Graphics key under that Common key, right-click on the Common key and select New > Key.In regedit, navigate to HKEY_CURRENT_USER\Software\Microsoft\Office\15.0\Common.One is described in many places ( here, for one) and goes like this:
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