Allen-Bradley 1756-HYD02 User Manual page 187

Geometries with orientation support
Configure the gear ratio as Coupling Ratio J4:J5 and gear direction as Coupling
Direction on the Offsets tab in the Coordinate System Properties dialog box.
Refer to manufacturer's manual for coupling relationship between J4 and J5 axis.
Tip: The Coupling attributes apply only to the Delta J1J2J3J4J5 robot.
Coupling Direction
This parameter indicates the direction of the coupling between J4 and J5. There
are 3 options to choose from:
•
<none> - No coupling relation between J4 and J5.
•
Same - Coupling between J4 and J5 is in same direction, that is, J4 positive
rotation causes the tilt motion in the same direction of the positive J5
motion.
•
Opposite - Coupling between J4 and J5 is in opposite direction, that is, J4
positive rotation causes the tilt motion in the opposite direction of the
positive J5 motion.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Chapter 4
187