Work And Tool Frame Offset Limits For Delta J1J2J6 Robot; Invalid Cartesian Positions - Allen-Bradley 1756-HYD02 User Manual

Chapter 4 Geometries with orientation support
Work and Tool Frame offset
limits for Delta J1J2J6 robot

Invalid Cartesian positions

160
Configure the joint limits
Refer to robot manufacturer's data sheet to compute the range of J1, J2, and J6
axes. These limits are set as a Soft Travel Limit on the Scaling tab in the Axis
Properties dialog box.
See also
Identify the Work Envelope for Delta J1J2J6 robot
The work envelope for the 3-axis Delta robot relies on the Work and Tool Frame
offset values defined in the MCTO instruction. The target end position range
changes based on the Work and Tool Frame offsets.
In the Delta robot, the End plate is always parallel to the Base plate and the 3-axis
Delta robot can reach only up to limited orientation positions. Work and Tool
frame offset values are limited up to reachable work envelope. The following offset
values are allowed for Work and Tool frames. The MCTO instruction generates
error 148 for invalid offset values.
•
Offset values on X, Y, Z and Rz axis are allowed for the Work Frame offsets.
Rx and Ry offsets are restricted and must be set to 0°. Specify these offset
values through the WorkFrame parameter in the MCTO instruction.
•
Offset values on X, Y, Z and Rz axis are allowed for the Tool Frame offsets.
Rx and Ry offsets are restricted and must be set to 0°. Specify these offset
values through the ToolFrame parameter in the MCTO instruction.
See also
Identity the Work Envelope
The End of Arm (EOA), using the default work and tool frame settings, can be
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
on
on page 156
page 156