Allen-Bradley 1756-M02AS User Manual page 75

Configure an Articulated Independent Robot Chapter 4
Link Lengths
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.
Figure 28 - Two-dimensional Delta Robot - Link Lengths Configuration Screen
Base Offsets
There is one base offset (X1b) available for the two-dimensional Delta robot
geometry. Enter the value equal to the distance from the origin of the robot
coordinate system to one of the actuator joints.
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 75