Geometries with no orientation support
106 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
The base offset X1b is the value equal to the distance from the origin of the robot
coordinate system to one of the actuator joints. In the previous figure, one of the
actuator joints (P1), is on the negative side of X1. The base offset X1b is -10 units
from the origin of the coordinate system (X1 - X2 intersection) to P1.
The Logix Designer application coordinate system configuration for the offset tab
used with the preceding example is shown in the following example.
This negative offset description also applies for Delta 3D and SCARA-Delta
configurations.
The typical SCARA Independent robot has two revolute joints and a single
prismatic joint. This robot is identical to the Articulated Independent two
dimensional robot except that the X1-X2 plane is tilted horizontally with a third
Independent Robot
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