Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 185
Example 2
In this example, Joint 4 axis of rotation is at a distance from End plate center
point. Joint 4 and Joint 5 axis are intersecting each other.
The table to shows configuring offsets and Swing Arm Offset values:
Configuring offsets Swing Arm offset value
Joint 4 axis is at a distance from End plate center point. Offset distance in X positive direction is
measured as A3= 50 mm and in Z positive direction is as measured as D4 = 25mm. (In this
setup, D3 can also be used in place of D4).
A3 = 50
D4 = 25
Joint 4 and Joint 5 are intersecting each other so D3 and A4 offset values are zero. D3 = 0
A4 = 0
From Joint 5 to EOA is measured as D5 = 75 mm. D5 = 75
Enter these offset values on the Offsets tab in the Coordinate System Properties
dialog box.
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