Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 169
Joint 6 axis is configured using Swing Arm Offset D3. Denavit - Hartenberg (DH)
notation is used to configure these offset values in which joint offsets in Z
direction is shown as D3. Offset values can be positive or negative.
Tip: For Swing Arm Offsets, positive Z direction is pointing down at the End plate center point.
Refer to manufacturer’s CAD drawings or datasheet to find relevant Swing Arm
Offset values for the project.
Enter the Swing Arm Offset values on the Offsets tab in the Coordinate System
Properties dialog box.
See also
Configuration parameters for Delta J1J2J3J6 robot on page 165
Configurable variable to attribute name mapping on page 169
Configure Zero Angle Orientation for Delta J1J2J3J6 robot on page 170
The Offset parameters in the Coordinate System Properties dialog box for the
4-axis Delta robot are not mapped to the attributes of the same name in the
GSV/SSV instruction. Use the table to associate the parameters in the
Coordinate System Properties dialog box to the attributes in the GSV/SSV
instruction.
Configuring offset variables in a
GSV/SSV instruction
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