Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 157
Example of a two-dimensional Delta robot workspace
For exact workspace region, refer to the documentation provided by the robot
manufacturer.
Program the robot within a rectangle (desired workspace) defined inside the
robot’s work space. The rectangle is defined by the positive and negative
dimensions of the X, Z virtual source axes.
To avoid issues with the singularity positions, the Motion Coordinated
Transform with Orientation (MCTO) instruction internally calculates the joint
limits for the Delta robot geometries. When an MCTO instruction is invoked for
the first time, the maximum positive and maximum negative joint limits are
internally calculated based upon the Link Lengths and Offset values entered on
the Geometry and Offsets tabs of the Coordinate System Properties dialog box.
For more information about the maximum positive and maximum negative joint
limits, refer to:
• Maximum Joint Limit Conditions
• Work and Tool Frame Offset Limits
During each scan, the joint positions are checked to ensure that they are within
the maximum and minimum joint limits.
Homing or moving a joint axis to a position beyond a computed joint limit and
then invoking an MCTO instruction results in an error 67 (Invalid Transform
position). For more information regarding error codes, refer to the MCTO
instruction in the online help or the Logix 5000 Controllers Motion Instructions
Reference Manual, publication MOTION-RM002
.
See also
Maximum Joint Limit condition for Delta J1J2J6 robot on page 158
Work and Tool Frame Offset limits for Delta J1J2J6 robot on page 160
Link length for Delta J1J2J6 robot on page 151
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