Allen-Bradley 1756-M08SE - Define Configuration Parameters for a Delta Two-Dimensional Robot

Geometries with no orientation support
Chapter 3
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 99
Homing or moving a joint axis to a position beyond a computed joint limit and
then invoking an MCT instruction, results in an error 67 (Invalid Transform
position). For more information regarding error codes see the Logix 5000
Controllers Motion Instructions Reference Manual, publication
MOTION-RM002.
See also
Maximum positive joint limit condition on page 92
Maximum negative joint limit condition on page 93
Configure the Logix Designer application to control robots with varying reach
and payload capacities. The configuration parameter values for the robot include:
• Link lengths
• Base offsets
• End-effector offsets
The configuration parameter information is available from the robot
manufacturer.
Important: Verify that the values for the Link Lengths, Base Offsets, and End-Effector Offsets are entered in the
Coordinate System Properties dialog box using the same measurement units.
See also
Link Lengths for Delta Two-dimensional robot on page 100
Base Offset for Delta Two-dimensional robot on page 100
End-Effector Offsets for Delta Two-dimensional robot on page 101
Links are the rigid mechanical bodies attached at joints. The two-dimensional
Delta geometry has two link pairs each with the same lengths. The link attached to
each actuated joint (J1 and J2) is L1. The parallel bar assembly attached to link L1
is link L2.
Define configuration
parameters for a Delta
Two-dimensional robot
Link Lengths for Delta
Two-dimensional robot