Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 155
Parameter in Coordinate System dialog box Class name Attribute name Data type GSV SSV
Swing Arm Offset: D3 CoordinateSystem EndEffectorOffset3 REAL Yes Yes
See also
Base and Effector Plate dimensions for Delta J1J2J6 robot on page 152
Swing Arm Offsets for Delta J1J2J6 robot on page 153
For Delta robot geometries, the internal transformation equations in the Logix
Designer application assume:
• J1 and J2 are at 0
when link L1 is horizontal, parallel to XY plane.
• As each top link (L1) moves downward, its corresponding joint axis (J1 or
J2) is rotating in the positive direction.
• Joint 6 axis of rotation is aligned with Z axis of base frame when J6 is at 0
.
• End of Arm (EOA) frame has Rx value of 180
with respect to base frame
that results in Z axis pointing downward.
To have joints J1 and J2 angular positions to be any value other than 0
when L1
is horizontal, then configure the Zero Angle Orientation values on the
Geometry tab in the Coordinate System Properties dialog box to align the joint
angle positions with the internal equations.
For example, if the Delta robot is mounted so that the joints attached at the top
plate are homed at 30
in the positive direction below horizontal and you want
the readout values in the application to be zero in this position, then enter -30
in the Z1 and Z2 parameters on the Geometry tab. The Z6 offset is used to set J6
axis other than default 0
position.
Orientations for Delta J1J2J6
robot
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