Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 99
Configure an Articulated Dependent Robot Chapter 5
End-effector Offsets
The robot can have an end-effector attached to the end of robot link L2. If
there is an attached end-effector, then you must configure the end-effector
offset value on the Coordinate System Properties dialog. The end-effector
offsets are defined regarding the tool reference frame at the tool tip.
Figure 47 - Example of End-effector Values for an Articulated Independent Robot
Enter the end-effector offset values.
For the robot shown in our example, the
end-effector values are:
•X1e = 2.0
•X3e = -3.0
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