Allen-Bradley 1756-HYD02 User Manual page 141

Geometries with orientation support
Work Frames Work ID
Work Frame 3 2
Work Frame 4 3
Work frames with different robot positions
It is acceptable to mount robots with different orientations, such as upside down
and horizontal positions. Work frame offsets set the relationship between the
work frame and the base frames so that programing the target position is
convenient for the users.
This diagram illustrates robots mounted in horizontal and upside down positions.
Work frame offsets 1 and 2 convert the target positions to conveyor coordinate
system assuming it is placed on the ground.
Work Frames Work ID
Work Frame 1 0
Work Frame 2 1
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Work Frame Offsets
50 -100 -800
-100 -50 -800
Work Frame Offsets
X Y Z
100 500 100
-100 100 500
Chapter 4
0 0 180
0 0 90
Rx Ry Rz
90 0 90
180 0 90
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