Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 151
8. If the top link of arm (L1) is not in a horizontal position, configure the
values for the Zero Angle Offsets on the Geometry tab in the Coordinate
System Properties dialog box to be equal to the values of the joints when in
a horizontal position.
9. Move J6 to an absolute position of 0.0. Verify that the joint position reads
0
.
Tip:
Since the robot axes are absolute, the reference positions may only need establishing once. If the reference positions
are lost, for example, the controller changes, then reestablish the reference positions.
See also
Establish a Reference frame for a Delta J1J2J6 robot on page 149
Configure the Logix Designer application to control robots with varying reach
and payload capacities. The configuration parameter values for the robot include:
• Link lengths
• Base offsets
• Effector Plate offsets
• Swing Arm offsets
• Zero Orientation
The configuration parameter information is available from the robot
manufacturer.
Important: Verify that the values for the Link Lengths, Base Offsets, and End-Effector Offsets are entered in the
Coordinate System Properties dialog box using the same measurement units.
See also
Link lengths for Delta J1J2J6 robot on page 151
Base and Effector Plate dimensions for Delta J1J2J6 robot on page 152
Swing Arm Offsets for Delta J1J2J6 robot on page 153
Configure Zero Angle Orientation for Delta J1J2J6 robot on page 155
Link lengths are the rigid mechanical bodies attached at the rotational joints. The
three-dimensional Delta robot geometry has two link pairs (L1 and L2) that make
up of Top link of the arm. Each link pair has the same dimensions.
Configuration parameters for
Delta J1J2J6 robot
Link Lengths for Delta J1J2J6
robot
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