Link Lengths For Delta Two-Dimensional Robot; Base Offsets For Delta Two-Dimensional Robot - Allen-Bradley 1756-HYD02 User Manual

Chapter 3 Geometries with no orientation support
Base Offsets for Delta
Two-dimensional robot
100
See also
Configuration parameters for a Delta Two-dimensional robot
The X1b base offset value is available for the two-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 two-dimensional Delta robot on the Offset tab
in the Coordinate System Properties dialog box.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
on page 99