56 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 4 Configure an Articulated Independent Robot
Method 1 - Establishing a Reference Frame
Each axis for the robot has the mechanical hard stop in each of the positive and
negative directions. Manually move or press each axes of the robot against its
associated mechanical hard stop and redefine it to the hard limit actual
position provided by the robot manufacturer. J1 is the axis at the base of the
robot that rotates around X3.
When the robot is moved so that Link1 is parallel to the X3 axis and Link2 is
parallel to X1 axis as shown in Articulated Independent 3
on page 55, the
Logix Designer application Actual Position tag values are equal to:
•J1 = 0
• J2 = 90
•J3 = -90
If the Logix Designer application Positions tags do not correspond to these
values, configure the Zero Angle Orientation for the joint or joints that do not
correspond.
The Joint-to-Cartesian reference frame relationship is automatically
established by the ControlLogix® controller after the Joint coordinate system
parameters (link lengths, base offsets, and end-effector offsets) are configured
and the MCT instruction is enabled.
Figure 12 - Setting the Zero Angle Orientations
If the Logix Designer application read-out
values are
Set the Zero Angle Orientations on the Coordinate
System Properties dialog to
J1
= 10
J2
= 80
J3 = -85
Z1
= -10
Z2 = 10
Z3
= -5
Set the Zero Angle Orientations.
To Next Page
Loading...
Need help?
General
