Allen-Bradley 1756-HYD02 User Manual page 194

Chapter 4 Geometries with orientation support
194
Rz is -30 , then set the work frame offset as [-200,-100,-1000, 0, 0,-30] in the
Motion Coordinated Transform with Orientation (MCTO) instruction.
Configure the robot by entering the Link lengths, Base and Effector plate
dimensions, and Swing Arm offsets in the Coordinate System Properties dialog
box.
The following image shows Pick & Place path details from the conveyor to the
table. The object is picked from point P1 and moved on the Z axis to P2. During
the horizontal move from point P2 to P3, Ry and Rz orientation positions are
changed and it will maintain that orientation during P4 and P5 move.
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Positions of different boxes from the conveyor frame are used as a target
position in the Motion Coordinated Path Move (MCPM) instruction. For
example, first box's XYZ position form the conveyor is (200, 200, 50) and it
is rotated by 30
180, 0, 30] in MCPM instruction.
•
During point P2 to P3 move, Rz value at TCP changes from 30
and Ry value changes from 0
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Boxes are placed on a table with different Rx, Ry and Rz orientations. For
example, first box's XYZ position form the conveyor is (400, 500, 100) and
it is rotated by -90 on Ry and Rz axis so P5 position is programmed as [400,
500, 100, 0, -90, -90] in the MCPM instruction.
Tip: Here Rx, Ry and Rz orientation positions are measured using fixed frame XYZ Euler angle notation, where Ry
range is +/- 90 and it will rollover. Rx and Rz values will flip at Ry rollover positions.
•
This cycle is repeated for other boxes coming on the Conveyor with
different XYZ positions and Rz orientations.
Different target positions for Pick and Place application
Position X
P1 200
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
on Rz axis so P1 position is programmed as [200, 200, 50,
to -90.
Y Z Rx
200 50 180
to 90
Ry Rz
0 30