Allen-Bradley 1756-HYD02 User Manual page 138

Chapter 4 Geometries with orientation support
Geometry Type Coordinate
Definition
Delta J1J2J6
J1J2J3J6
J1J2J3J4J5
138
•
These two attributes of the coordinate system are available via GSV
instructions as shown in the image below.
For more information about Motion Instructions, see
Motion Instructions Reference
Restrictions
In some robot geometries, for example Delta robots, due to mechanical constrains
some of the work frame orientation offsets are restricted so that the robot cannot
be programmed for unreachable positions through the work frame offsets.
The following table shows the current restrictions on the work frame offsets for
different robot geometries supported by Logix Designer application.
X Y
Allowed Allowed
Allowed Allowed
Allowed Allowed
Tip:
Offset values must be set to 0
invalid orientation offsets.
Establish a work frame
Following illustration shows an example of establishing a new work frame
(X'Y'Z') from the base frame (XYZ) and change in target position P with
reference to a new work frame.
Work frame X'Y'Z' is located at 100 units on X axis, 50 units on y axis and rotated
30 degree on Z axis of the robot's base frame XYZ. Work frame offset values are
set as (X = 100, Y = 50, Z = 0, Rx = 0, Ry = 0, Rz = 30 ).
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Manual, publication MOTION-RM002.
Work Frame Offsets
Z Rx
Allowed Not Allowed
Allowed Not Allowed
Allowed Not Allowed
for restricted orientation offset inputs. MCTO/MCTPO instructions generate error #148 for
Logix 5000 Controllers
Ry RZ
Not Allowed Allowed
Not Allowed Allowed
Not Allowed Allowed