Allen-Bradley 1756-HYD02 User Manual page 234

Index
work envelope 195
zero angle orientations 193
Delta J1J2J3J6 166
base and effector plate dimensions 172
calibrate 169
configuration parameters 170
establish a reference frame 167
link lengths 171
maximum joint limit condition 177
offset variables in GSV/SSV 174
sample project 180
swing arm offsets 173
work and tool frame offset limits 179
work envelope 177
zero angle orientations 175
Delta J1J2J6 151
base and effector plate dimensions 157
calibrate 154
configuration parameters 156
establish a reference frame 153
link lengths 156
maximum joint limit condition 163
offset variables in GSV/SSV 159
swing arm offsets 158
work and tool frame offset limits 165
work envelope 161
zero angle orientations 160
Delta Robot
Maximum Negative Joint Limit Condition 95, 97
Maximum Positive Joint Limit Condition 95, 96, 97, 98, 100, 101, 102,
103, 107, 108, 109
Delta three-dimensional 91
base offsets 99
calibrate 93
configuration parameters 98
end effector offsets 99
link lengths 98
maximum negative joint limit condition 95, 97
maximum positive joint limit condition 95, 96
reference frame 93
work envelope 95
Delta two-dimensional 100
base offsets 104
calibrate 102
configuration parameters 103
end effector offsets 105
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Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
establish the reference frame 101
link lengths 104
work envelope 102
Determine coordinate system type 38
E
electronic camming 222
execution schedule 232
MAPC instruction 232
MATC instruction 236
G
Geometries with no orientation support 69
Articulated Dependent 79
Articulated Independent 69
Cartesian Gantry 115
Cartesian H-bot 116
configure 87
Delta three-dimensional 91
Delta two-dimensional 100
SCARA Delta 106
SCARA Independent 111
Geometries with orientation support 119
Cartesian coordinate frame 119
Delta J1J2J3J4J5 180
Delta J1J2J3J6 166
Delta J1J2J6 151
mirror image orientation behavior 200
turns counters 205
L
Logix Designer Cam Profile Editor 237
M
mechanical camming 221
mirror image orientation behavior 200
example 203
mirror image Ry orientation 201
restrictions 203
Rx axis position 201
Rz axis position 202
use MCPM to program Ry moves 204
Motion Axis Position Cam (MAPC) 222, 224, 228, 229, 231, 232, 237