Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 187
Configure the gear ratio as Coupling Ratio J4:J5 and gear direction as Coupling
Direction on the Offsets tab in the Coordinate System Properties dialog box.
Refer to manufacturer’s manual for coupling relationship between J4 and J5 axis.
Tip: The Coupling attributes apply only to the Delta J1J2J3J4J5 robot.
Coupling Direction
This parameter indicates the direction of the coupling between J4 and J5. There
are 3 options to choose from:
• <none> - No coupling relation between J4 and J5.
• Same - Coupling between J4 and J5 is in same direction, that is, J4 positive
rotation causes the tilt motion in the same direction of the positive J5
motion.
• Opposite - Coupling between J4 and J5 is in opposite direction, that is, J4
positive rotation causes the tilt motion in the opposite direction of the
positive J5 motion.
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