Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 57
Configure an Articulated Independent Robot Chapter 4
Method 2 - Establishing a Reference Frame
Position the robot so that:
• Link1 is parallel to the X3 axis.
• Link2 is parallel to X1 axis.
Program a MRP instruction for all three axes with the following values:
•J1 = 0
• J2 = 90
•J3 = -90
The Joint-to-Cartesian reference frame relationship is automatically
established by the ControlLogix controller after the Joint coordinate system
parameters (link lengths, base offsets, and end-effector offsets) are configured
and the MCT instruction is enabled.
Work Envelope
The work envelope is the three-dimensional region of space that defines the
reaching boundaries for the robot arm. The work envelope for an articulated
robot is ideally a complete sphere having an inner radius equal to L1- L2 and
outer radius equal to L1+L2. Due to the range of motion limitations on
individual joints, the work envelope is not always a complete sphere.
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