Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 101
Chapter 6
Configure a Cartesian Gantry Robot
Use these guidelines when configuring a Cartesian Gantry robot.
Establish the Reference
Frame for a Cartesian Gantry
Robot
For a Cartesian Gantry robot, the reference frame is an orthogonal set of X1,
X2, and X3 axes positioned anywhere on the Cartesian robot. All global
coordinate measurements (points) are relative to this reference frame.
Typically, the reference frame is aligned with the X1, X2, and X3 axes of the
machine.
Figure 48 - Cartesian Reference Frame
To establish a Local coordinate system with axes positions different from the
reference frame, use the Motion Redefine Position (MRP) instruction to reset
the position register. You can also use the Offset Vector in the MCT transform
instruction to establish an offset between the Local coordinate system and the
reference frame.
For more information about Motion Instructions, see Logix5000™ Controllers
Motion Instructions Reference Manual, publication MOTION-RM002
.
Identify the Work Envelope
for a Cartesian Gantry Robot
The work envelope for a Cartesian Gantry robot is typically a solid rectangle of
length, width, and height that is equal to the axis travel limits.
Topic Page
Establish the Reference Frame for a Cartesian Gantry Robot 101
Identify the Work Envelope for a Cartesian Gantry Robot 101
Define Configuration Parameters for a Cartesian Gantry Robot 102
Cartesian XYZ reference frame
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