Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 73
Configure an Articulated Independent Robot Chapter 4
Figure 26 - Establishing the Two-dimensional Delta Robot Reference Frame
Calibrate a Delta Two-dimensional Robot
The method used to calibrate a Delta two-dimensional robot is the same as the
method used for calibrating a Delta three-dimensional robot. The only
difference is the number of axes used. For more information about calibration,
see Calibrate a Delta Three-dimensional Robot
on page 64.
Identify the Work Envelope for a Delta Two-dimensional Robot
The work envelope is the two-dimensional region of space that defines the
reaching boundaries for the robot arm. The typical working envelope for a
two-dimensional Delta robot is a boundary composed of circular arcs.
Figure 27 - Work Envelope for Two-dimensional Delta Robot
We recommend that you define the program parameters for the two-
dimensional Delta robot within a rectangle (dotted lines in Figure 27
) inside
the work zone of the robot. The rectangle can be defined by the positive and
negative dimensions of the X1, X2 virtual source axes. Be sure that the robot
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