Page 26 - Maestro Release – Sep 2021

SCARA Robot - Enhancement

• Left/Right arm auto detection

• SetScaraRobotKinematics shall automatically detect the location of the elbow (M2) direction.

• The Elbow direction parameter is now N/A.

• Shoulder (M1) ±180˚ limit

• No Limitation of crossing ±180˚ at the shoulder axis (M1)

• GroupReadActualPosition shall always recalculate its positon even if it crossed the 180 ˚ limitation

• Code Enhancements

• SetKinematics will ignore the elbow direction. Elbow direction will be calculated internally. No error if wrong

direction

• GroupReadActualPosition (MCS) will always return a value.

• All ACS-MCS transition will recalculate the elbow direction. Can change Elbow direction via ACS motion.

• No support for MCS that crosses an elbow

P-MAS G-MAS Gold Drive Plat Drive

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25 Confidential