Allen-Bradley 1756-HYD02 User Manual page 8

Table of contents
8
Establish the reference frame for a Delta J1J2J6 robot ....................................... 149
Calibrate a Delta J1J2J6 robot ................................................................................... 150
Configuration parameters for Delta J1J2J6 robot ............................................... 151
Link Lengths for Delta J1J2J6 robot ........................................................................ 151
Base and Effector Plate dimensions for Delta J1J2J6 robot .............................. 152
Swing Arm Offsets for Delta J1J2J6 robot ............................................................. 153
Configuring offset variables in a GSV/SSV instruction ..................................... 154
Configure Zero Angle Orientations for Delta J1J2J6 robot ............................. 155
Identify the work envelope for Delta J1J2J6 robot .............................................. 156
Maximum joint limit condition for Delta J1J2J6 robot ..................................... 158
Work and Tool Frame offset limits for Delta J1J2J6 robot .............................. 160
Invalid Cartesian positions ......................................................................................... 160
Configure a Delta J1J2J3J6 Coordinate System ........................................................... 161
Establish the reference frame for a Delta J1J2J3J6 robot ................................... 162
Calibrate a Delta J1J2J3J6 robot ............................................................................... 164
Configuration parameters for Delta J1J2J3J6 robot ........................................... 165
Link Lengths for Delta J1J2J3J6 robot.................................................................... 166
Base and Effector Plate dimensions for Delta J1J2J3J6 robot .......................... 167
Swing Arm Offsets for Delta J1J2J3J6 robot ......................................................... 168
Configuring offset variables in a GSV/SSV instruction ..................................... 169
Configure Zero Angle Orientations for Delta J1J2J3J6 robot ......................... 170
Identify the work envelope for Delta J1J2J3J6 robot .......................................... 172
Maximum joint limit condition for Delta J1J2J3J6 robot ................................ 172
Work and Tool Frame offset limits for Delta J1J2J3J6 robot .......................... 174
Sample project for Delta J1J2J3J6 robot ................................................................. 175
Configure a Delta J1J2J3J4J5 Coordinate System ....................................................... 175
Establish the reference frame for a Delta J1J2J3J4J5 robot ............................... 177
Calibrate a Delta J1J2J3J4J5 robot ........................................................................... 178
Configuration parameters for Delta J1J2J3J4J5 robot ....................................... 180
Link Lengths for Delta J1J2J3J4J5 robot ............................................................... 180
Base and Effector Plate dimensions for Delta J1J2J3J4J5 robot ...................... 181
Swing Arm Offsets for Delta J1J2J3J4J5 robot .................................................... 182
Coupling between J4 and J5 axis ............................................................................... 186
Configure Zero Angle Orientations for Delta J1J2J3J4J5 robot..................... 188
Identify the work envelope for Delta J1J2J3J4J5 robot...................................... 190
Maximum joint limit condition for Delta J1J2J3J4J5 robot ............................ 190
Work and Tool Frame offset limits for Delta J1J2J3J4J5 robot ...................... 192
Example of a Pick and Place application for Delta J1J2J3J4J5 robot ............. 193
MCPM mirror image orientation axis behavior ........................................................... 195
Mirror image Ry orientation ...................................................................................... 196
Rx axis position in mirror non-flip and mirror flip regions ............................... 196
Rz axis position in mirror non-flip and mirror flip regions ............................... 197
Example of mirror image and flip behavior on Rx and Rz axes ........................ 198
Mirror orientation restrictions .................................................................................. 198
Use MCPM to program Ry absolute moves for geometries with mirror image
position ............................................................................................................................. 199
Configure and program turns counters ........................................................................... 200
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018