Allen-Bradley 1756-M02AS User Manual page 68

Chapter 4 Configure an Articulated Independent Robot
68
Homing or moving a joint axis to a position beyond a computed joint limit and
then invoking a MCT instruction, results in an error 67 (Invalid Transform
position). For more information regarding error codes, see the Logix5000™
Controllers Motion Instructions Reference Manual,
publication MOTION-RM002.
Maximum Positive Joint Limit Condition
The derivations for the maximum positive joint apply to the condition when
L1 and L2 are collinear.
Figure 21 - Maximum Positive Joint Limit Condition - L1 and L2 are Collinear
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Maximum Positive Joint Limit Position
R = absolute value of (X1b - X1e)
α
=
-1
cos
R
(
)
L1 + L2
α
Jmax Positive = 180