Allen-Bradley 1756-M08SE User Manual

Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 167
See also
Configuration parameters for Delta J1J2J3J6 robot on page 165
Base and Effector Plate dimensions for Delta J1J2J3J6 robot on page 167
Swing Arm offsets for Delta J1J2J3J6 robot on page 168
Configure Zero Angle Orientation for Delta J1J2J3J6 robot on page 170
In a 4-axis Delta robot configuration, Base and End plate offsets are represented as
Rb and Re offsets.
• Rb - This offset represents the Base plate offset value. Enter the value equal
to the distance from the origin of the robot coordinate system to one of the
actuator joints.
• Re - This offset represents the End plate offset value. Enter the value equal
to the distance from the center of the moving end plate to the lower
spherical joints of the parallel arms (L2).
Base and Effector Plate
dimensions for Delta J1J2J3J6
robot

Allen-Bradley 1756-M08SE Specifications

General

Brand	Allen-Bradley
Model	1756-M08SE
Category	Controller
Language	English