Allen-Bradley 1756-M08SE - Page 7

Table of contents
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 7
Configure a Delta Two-dimensional robot .......................................................................96
Establish the reference frame for a Delta Two-dimensional robot ....................97
Calibrate a Delta Two-dimensional robot ................................................................98
Identify the work envelope for a Delta Two-Dimensional robot .......................98
Define configuration parameters for a Delta Two-dimensional robot .............99
Link Lengths for Delta Two-dimensional robot .................................................. 100
Base Offsets for Delta Two-dimensional robot .................................................... 100
End-Effector Offsets for Delta Two-dimensional robot.................................... 101
Configure a SCARA Delta robot ...................................................................................... 102
Establish the reference frame for a SCARA Delta robot ................................... 103
Calibrate a SCARA Delta robot ............................................................................... 104
Identify the work envelope for a SCARA Delta robot ....................................... 104
Define configuration parameters for a SCARA Delta robot ............................ 105
Link lengths for SCARA Delta Robot .................................................................... 105
Base Offset for SCARA Delta Robot ...................................................................... 105
End Effector Offset for SCARA Delta Robot ...................................................... 105
Configure a Delta robot with a Negative X1b offset .......................................... 106
Configure a SCARA Independent Robot ...................................................................... 107
Establish the reference frame for a SCARA Independent robot ..................... 107
Identify the work envelope for a SCARA Independent robot ......................... 109
Define configuration parameters for a SCARA Independent robot .............. 109
Link lengths for SCARA Independent robot........................................................ 110
Configure a Cartesian Gantry robot ................................................................................ 111
Establish the reference frame for a Cartesian Gantry robot .............................. 111
Identify the work envelope for a Cartesian Gantry robot.................................. 111
Define configuration parameters for a Cartesian Gantry robot ...................... 111
Configure a Cartesian H-bot robot .................................................................................. 112
Establish the reference frame for a Cartesian H-bot ........................................... 113
Identify the work envelope for a Cartesian H-bot ............................................... 113
Define configuration parameters for a Cartesian H-bot robot ........................ 113
Chapter 4
Cartesian coordinate frame ................................................................................................. 115
Cartesian Point Specification ..................................................................................... 116
Transform representation of point ........................................................................... 118
Orientation specification............................................................................................. 123
Point conversion ............................................................................................................ 125
RxRyRz, flip, mirror flip condition .......................................................................... 126
Translation and rotation example............................................................................. 132
Define coordinate system frames ....................................................................................... 134
Work frame offsets ........................................................................................................ 137
Work frame examples ................................................................................................... 139
Tool frame offsets .......................................................................................................... 142
Tool frame example ....................................................................................................... 145
Configure a Delta J1J2J6 Coordinate System ............................................................... 147
Geometries with orientation
support