Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 91
Chapter 5
Configure an Articulated Dependent Robot
The Articulated Dependent robot has motors for the elbow and the shoulder
at the base of the robot. The dependent link controls J3 at the elbow. Use these
guidelines when configuring an Articulated Dependent robot.
Reference Frame
The reference frame is the Cartesian (typically the source) coordinate frame
that defines the origin and the three primary axes (X1, X2, and X3). These axes
are used to measure the real Cartesian positions.
The reference frame for an Articulated Dependent robot is at the base of the
robot as shown in Figure 40
.
Topic Page
Reference Frame 91
Methods to Establish a Reference Frame 93
Work Envelope 96
Configuration Parameters 97
ATTENTION: Before turning ON the Transform and/or establishing the
reference frame, do the following for the joints of the target coordinate
system:
1. Set and enable the soft travel limits.
2.Enable the hard travel limits.
Failure to do this can allow the robot to move outside of the work envelope
causing machine damage and/or serious injury or death to personnel.
ATTENTION: Failure to properly establish the correct reference frame for
your robot can cause the robotic arm to move to unexpected positions
causing machine damage and/or injury or death to personnel.
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