Allen-Bradley 1756-HYD02 User Manual page 6

Table of contents
Geometries with no
orientation support
6
Bit States at transition points of blended move by using no decel .....................52
Bit states at transition points of blended move by using command tolerance 53
Bit states at transition points of blended move by using follow contour
velocity constrained or unconstrained ........................................................................54
Choose a termination type .....................................................................................................55
Chapter 3
Configure an Articulated Independent robot ..................................................................65
Establish reference frame for an articulated independent robot .........................66
Methods to establish a reference frame for an articulated independent robot
................................................................................................................................................68
Method 1 - Establish a reference frame using zero angle orientation ................68
Method 2 - Establish a reference frame using a MRP instruction ......................69
Work envelope for articulated independent robot .................................................70
Configuration parameters for Articulated Independent robot...........................71
Link lengths for Articulated Independent robot.....................................................72
Base offsets for Articulated Independent robot .......................................................73
End-Effector Offsets for Articulated Independent robot .....................................74
Configure an Articulated Dependent robot .....................................................................75
Reference frame for Articulated Dependent robots ...............................................76
Methods to establish a reference frame for an articulated dependent robot ...78
Work envelope for articulated dependent robot .....................................................78
Configuration parameters for Articulated Dependent robot ..............................79
Link lengths for Articulated Dependent robot ........................................................80
Base offsets for Articulated Dependent robot ..........................................................81
End-Effector Offsets for Articulated Dependent robot ........................................82
Arm solutions .............................................................................................................................83
Left-arm and right-arm solutions for two-axes robots ...........................................84
Solution mirroring for three-dimensional robots ...................................................84
Change the robot arm solution.....................................................................................85
Plan for singularity............................................................................................................86
Encounter a no-solution position ................................................................................86
Delta robot geometries ............................................................................................................87
Configure a Delta Three-dimensional robot ....................................................................87
Establish the reference frame for a Delta Three-dimensional robot ..................89
Calibrate a Delta Three-dimensional robot ..............................................................89
Alternate method for calibrating a Delta Three-dimensional robot .................90
Configure Zero Angle Orientations for Delta Three-dimensional robot .......90
Identify the work envelope for a Delta Three-dimensional robot .....................91
Maximum positive joint limit condition ...................................................................92
Maximum negative joint limit condition ..................................................................93
Define configuration parameters for a Delta Three-dimensional robot ..........94
Link Lengths for Delta Three-dimensional robot ..................................................94
Base Offsets for Delta Three-dimensional robot.....................................................95
End-Effector Offsets for Delta Three-dimensional robot ....................................95
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018