Geometries with orientation support
180 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Tip:
Since the robot axes are absolute, the reference positions may only need establishing once. If the reference positions
are lost, for example, the controller changes, then reestablish the reference positions.
See also
Establish the reference frame for Delta J1J2J3J4J5 robot on page 177
Configure the Logix Designer application to control robots with varying reach
and payload capacities. The configuration parameter values for the robot include:
• Link lengths
• Base offsets
• End-effector offsets
• Swing Arm offsets
• Coupling Ratio
The configuration parameter information is available from the robot
manufacturer.
Important: Verify that the values for the Link Lengths, Base Offsets, and End-Effector Offsets are entered in the
Coordinate System Properties dialog box using the same measurement units.
See also
Link Lengths for Delta J1J2J3J4J5 robot on page 180
Base and Effector Plate dimensions for Delta J1J2J3J4J5 robot on page 181
Swing Arm Offsets for Delta J1J2J3J4J5 robot on page 182
Coupling between J4 and J5 axis on page 186
Configure Zero Angle Orientation for Delta J1J2J3J4J5 robot on page 188
Link lengths are the rigid mechanical bodies attached at the rotational joints. The
five-dimensional Delta robot geometry has three link pairs made up of L1 and L2.
Each link pair has the same dimensions.
• L1 - link attached to each actuated joint (J1, J2, and J3)
• L2 - the parallel bar assembly attached to L1
Configuration parameters for
Delta J1J2J3J4J5 robot
J1J2J3J4J5 robot
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