Allen-Bradley 1756-M08SE - Base Offsets for Delta Three-Dimensional Robot; End-Effector Offsets for Delta Three-Dimensional Robot

Geometries with no orientation support
Chapter 3
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 95
See also
Define configuration parameters for a Delta Three-dimensional robot
on
page 94
Base Offset for Delta Three-dimension robot on page 95
End-Effector Offset for Delta Three-dimensional robot on page 95
The X1b base offset value is available for the three-dimensional Delta robot
geometry. Enter a value equal to the distance from the origin of the robot
coordinate system to one of the actuator joints.
Enter the base offset value for the three-dimensional Delta robot on the Offset tab
in the Coordinate System Properties dialog box.
See also
Define configuration parameters for a Delta Three-dimensional robot
on
page 94
The two End Effector Offsets available for the three-dimensional Delta robot
geometry are:
• X1e - This is the distance from the center of the moving plate to the lower
spherical joints of the parallel arms.
• X3e - This is the distance from the base plate to the TCP of the gripper.
Base Offsets for Delta
Three-dimensional robot
End-Effector Offsets for Delta
Three-dimensional robot