Allen-Bradley 1756-M08SE - Work and Tool Frame Offset Limits for Delta J1 J2 J3 J4 J5 Robot

Chapter 4
Geometries with orientation support
192 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Maximum J4 joint limit condition
J4 axis is the rotational axis that could have multiple turns. The maximum number
of turns supported is +/-127. Maximum positive and negative range is checked
based on number of turns supported on J4.
Maximum J5 joint limit condition
The maximum positive and negative limit of J5 axis is restricted between -179
to +179
to avoid singularity conditions. Actually tilt motion of the Swing Arm
is restricted with -/+179
range.
In case of mechanical coupling, the maximum limit of J5 axis is computed based
on J4 axis limit. J5 axis can move beyond this -/+ 179
range but the effective
Swing Arm tilt motion is restricted between +/- 179
. For example, if J4:J5
coupling ratio is 2:1 and J4 range is -/+720
, then J5 can move up to -/+360 to
compensate for coupling effect.
Configure the joint limits
Refer to robot manufacturer's data sheet to compute the range of J1, J2, J3, J4, and
J5 axes. These limits are set as a Soft Travel Limit on the Scaling tab in the Axis
Properties dialog box.
See also
Identify the Work Envelope for Delta J1J2J3J4J5 robot on page 190
The work envelope for the 5-axis Delta robot relies on the Work and Tool Frame
offset values defined in the MCTO instruction. The target end position range
changes based on the Work and Tool Frame offsets.
Work and Tool Frame offset
limits for Delta J1J2J3J4J5 robot