Geometries with no orientation support
70 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
• J1 = 0
• J2 = 90°
• J3 = -90°
The Joint-to-Cartesian reference frame relationship is automatically established by
the Logix controller after the Joint coordinate system parameters, which are the
link lengths, base offsets, and end-effector offsets, are configured and the MCT
instruction is enabled.
See also
Method 1 - Establish a reference frame using zero angle orientation on
page
68
The work envelope is the three-dimensional region of space that defines the
reaching boundaries for the robot arm. The work envelope for an articulated
robot is ideally a complete sphere with an inner radius equal to L1- L2 and outer
radius equal to L1+L2. Due to the range of motion limitations on individual
joints, the work envelope may not be a complete sphere.
If the range-of-motion values for the articulated
robot are:
Typically, the work envelope is:
J1 = ± 170
J2 = 0 to 180
J3 = ± 60
L1 = 10
L2 = 12
Top view - Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position
of 0
.
Work envelope for articulated
independent robot
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