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Allen-Bradley 1756-M02AS User Manual

Allen-Bradley 1756-M02AS
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4 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Table of Contents
Gather Information about Your Robot. . . . . . . . . . . . . . . . . . . . . . . . . . 48
Summary of Kinematic Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Determine the Coordinate System Type . . . . . . . . . . . . . . . . . . . . . . . . 50
Chapter 4
Configure an Articulated
Independent Robot
Reference Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Methods to Establish a Reference Frame . . . . . . . . . . . . . . . . . . . . . . . . 55
Method 1 - Establishing a Reference Frame . . . . . . . . . . . . . . . . . . 56
Method 2 - Establishing a Reference Frame . . . . . . . . . . . . . . . . . . 57
Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Configuration Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Link Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Base Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
End-effector Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Delta Robot Geometries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Configure a Delta Three-dimensional Robot . . . . . . . . . . . . . . . . . . . . 62
Establish the Reference Frame for a Delta
Three-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Calibrate a Delta Three-dimensional Robot. . . . . . . . . . . . . . . . . . 64
Alternate Method for Calibrating a Delta
Three-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Configure Zero Angle Orientations for Delta
Three-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Identify the Work Envelope for a Delta
Three-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Define Configuration Parameters for a Delta
Three-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Configure a Delta Two-dimensional Robot . . . . . . . . . . . . . . . . . . . . . 71
Establish the Reference Frame for a Delta
Two-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Calibrate a Delta Two-dimensional Robot. . . . . . . . . . . . . . . . . . . 73
Identify the Work Envelope for a Delta
Two-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Define Configuration Parameters for a Delta
Two-dimensional Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Configure a SCARA Delta Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Establish the Reference Frame for a
SCARA Delta Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Calibrate a SCARA Delta Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Identify the Work Envelope for a
SCARA Delta Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Define Configuration Parameters for a
SCARA Delta Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Configure a Delta Robot with a
Negative X1b Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Arm Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

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Allen-Bradley 1756-M02AS Specifications

General IconGeneral
BrandAllen-Bradley
Model1756-M02AS
CategoryControl Unit
LanguageEnglish

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