Allen-Bradley 1756-M02AS User Manual

72 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 4 Configure an Articulated Independent Robot
This robot has two rotary joints that move the gripper in the (X1, X2) plane.
Two forearm assemblies attach a fixed top plate to a movable bottom plate. A
gripper is attached to the movable bottom plate. The bottom plate is always
orthogonal to the X2 axis and its position is translated in Cartesian space (X1,
X2) by mechanical parallelograms in each forearm assembly. The two joints, J1,
and J2, are actuated joints. The joints between links L1 and L2 and between L2
and the base plate are unactuated joints.
Each joint is rotated independently to move the gripper to a programmed (X1,
X2) position. As each joint axis (J1 or J2 or J1 and J2) is rotated, the TCP of
the gripper moves correspondingly in the X1 or X2 direction or X1 and X2
direction. You can program the TCP to a (X1, X2) coordinate, then
Logix Designer application uses internal vector dynamic calculations to
compute the proper commands needed for each joint to move the gripper
linearly from the current (X1, X2) position to the programmed (X1, X2)
position.
The two joint axes (J1 and J2) of the robot are configured as linear axes.
To rotate the gripper, configure a third axis as a linear or rotary, independent
axis.
Establish the Reference Frame for a Delta Two-dimensional Robot
The reference frame for the two-dimensional Delta geometry is at the center of
the fixed top plate. When the angles of joints J1 and J2 are both at 0, each of
the two L1 links is along the X1 axis. One L1 link is pointing in the positive X1
direction, the other in the negative X1 direction.
When the right-hand link L1 moves downward, joint J1 is assumed to be
rotating in the positive direction and when L1 moves upward, the J1 is assumed
to be moving in the negative direction. When the left-hand link L1 moves
downward, joint J2 is assumed to be rotating in the positive direction and when
left-hand L1 moves upward, the J2 is assumed to be moving in the negative
direction.

Allen-Bradley 1756-M02AS Specifications

General

Brand	Allen-Bradley
Model	1756-M02AS
Category	Control Unit
Language	English

Summary

Create and Configure a Coordinate System

Coordinate System Creation Process

Steps to create a coordinate system tag, defining its type, dimension, and associated axes.

Coordinate System Configuration Options

Details on configuring coordinate system properties via tabs like General, Geometry, Units, Offsets, Joints, Dynamics, and Tag.

Configure a Cartesian Coordinate System

Configuring Motion Instructions and Blending

Programming MCLM instructions, blending moves, and understanding termination types and bit states.

Velocity Profiles and Termination Types

Explains collinear, symmetric, and triangular velocity profiles, and how to select termination types.

Configure Kinematics Coordinate Systems

Kinematics Instructions and Setup

Introduces MCTP, MCSR instructions, essential terms, robot info, and determining coordinate system type.

Preparing for Kinematics Configuration

Gathers robot information, summarizes kinematic steps, and identifies the correct coordinate system type.

Configure an Articulated Independent Robot

Reference Frame and Robot Parameters

Establishes reference frame, methods, work envelope, link lengths, base offsets, and end-effector offsets.

Robot Geometry Configuration

Detailed steps for configuring Delta (3D, 2D) and SCARA Delta robot geometries.

Arm Solutions and Kinematics

Explains arm solutions, singularities, and SCARA Independent robot setup and configuration.

Configure an Articulated Dependent Robot

Reference Frame and Robot Setup

Establishes the reference frame and methods for an Articulated Dependent robot.

Robot Configuration and Work Envelope

Covers robot parameters, work envelope, and link lengths for configuration.

Configure a Cartesian Gantry Robot

Reference Frame and Work Envelope

Setting up the reference frame and defining the work envelope for Cartesian Gantry robots.

Configuration Parameters

Notes that parameters like link lengths are not needed for Cartesian Gantry robot configuration.

Configure a Cartesian H-bot

Understanding the H-bot

Overview of H-bot mechanics, axes, and movement capabilities.

Reference Frame and Configuration

Setting up reference frame, work envelope, and parameters for Cartesian H-bots.

Configure Camming

Camming Concepts and Profiles

Defines camming, profiles (position, time), and common types like Acceleration and Run cams.

Camming Execution and Scaling

Covers scaling, execution modes (Once, Continuous), schedules (Immediate, Pending), and pending cams.