Allen-Bradley 1756-M02AS User Manual page 58

Chapter 4 Configure an Articulated Independent Robot
If the range-of-motion values for the articulated
robot are
J1 = ± 170
J2 = 0 to 180
J3 = ± 100
L1= 10
L2 = 12
58
Typically, the work envelope is
Top view - Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position of

0 .
Side view - Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position

of 0 .
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016