78 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 4 Configure an Articulated Independent Robot
Identify the Work Envelope for a SCARA Delta Robot
The work envelope for a SCARA Delta robot is similar to the two-
dimensional Delta robot in the X1-X2 plane. The third linear axis extends the
work region making it a solid region. The maximum positive and negative
limits of the linear axis defines the height of the solid region.
We recommend that you program the SCARA Delta robot within a
rectangular solid defined inside the robots work zone. The rectangular solid
can be defined by the positive and negative dimensions of the X1, X2, X3
virtual source axes. Be sure that the robot position does not go outside the
rectangular solid. You can check the position in the event task.
To avoid problems with singularity positions, Logix Designer application
internally calculates the joint limits for the Delta robot geometries.
Homing or moving a joint axis to a position beyond a computed joint limit and
then invoking an MCT instruction, results in an error 67 (Invalid Transform
position). For more information about error codes, see the Logix5000
Controllers Motion Instructions Reference Manual,
publication MOTION-RM002
.
Define Configuration Parameters for a SCARA Delta Robot
Logix Designer application can be configured for control of robots with
varying reach and payload capacities. As a result, it is very important to know
the configuration parameter values for your robot including:
•Link lengths.
• Base offset.
• End-effector offset.
The configuration information is available from the robot manufacturer.
For More Information About Page
Maximum positive joint limits 68
Maximum negative joint limits 69
IMPORTANT Verify that the values for the link lengths, base offsets, and end-effector
offsets are entered into the Configuration Parameters dialog by using the
same measurement units.
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