Geometries with no orientation support
78 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Articulated dependent robot on page 75
Use the following methods to establish a reference frame for the robot.
For each: Use one of these methods to establish the reference frame:
Incremental axis Each time the power for the robot is cycled.
Absolute axis Only to establish absolute home.
• Method 1 - Establishes a Zero Angle Orientation and allows the configured
travel limits and home position on the joint axes to remain operational. Use
this method when operating the axes between the travel limits determined
prior to programming a Motion Redefine Position (MRP) instruction and
want these travel limits to stay operational.
• Method 2 - Uses a MRP instruction to redefine the axes position to align
with the joint reference frame. This method may require the soft travel
limits to be adjusted to the new reference frame.
See also
Method 1 - Establish a reference frame on page 68
Method 2 - Establish a reference frame using a MRP instruction on page 69
The work envelope is the three-dimensional region of space that defines the
reaching boundaries for the robot arm. The work envelope for an articulated
robot is ideally a complete sphere with an inner radius equal to L1- L2 and outer
radius equal to L1+L2. Due to the range of motion limitations on individual
joints, the work envelope may not be a complete sphere.
reference frame for an
articulated dependent robot
Work envelope for articulated
dependent robot
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