Allen-Bradley 1756-M08SE - Define Configuration Parameters for a SCARA Delta Robot; Link Lengths for SCARA Delta Robot; Base Offset for SCARA Delta Robot; End Effector Offset for SCARA Delta Robot

Geometries with no orientation support
Chapter 3
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 105
See also
Define configuration parameters for a SCARA Delta robot on page 105
The X1e End-Effector Offsets is available for the SCARA Delta robot geometry
on the Offsets tab in the Coordinate System Properties dialog box. Type the
value for the distance from the center of the moving plate to one of the spherical
joints of the parallel arms. The End-Effector Offsets value is always a positive
number.
See also
Define configuration parameters for a SCARA Delta robot on page 105
Beginning with version 17 of the application, you can use negative offsets for the
X1b base offset on 2D and 3D delta geometries. For example, a mechanical 2D
delta robot using a negative X1b offset has a mechanical configuration as shown in
the diagram.
End Effector Offset for SCARA
Delta Robot
Configure a Delta robot with a
Negative X1b offset