Allen-Bradley 1756-M02AE, User Manual, Page: 152 / 236

Chapter 4
Geometries with orientation support
152
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
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L1 - link attached to each actuated J1 and J2
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L2 - link attached to L1 on one end and the end plate at the other end
Enter the link lengths on the Geometry tab in the Coordinate System
Properties dialog box.
See also
Configuration parameters for Delta J1J2J6 robot on page 151
Base and Effector Plate dimensions for Delta J1J2J6 robot on page 152
Swing Arm Offsets for Delta J1J2J6 robot on page 153
Configure Zero Angle Orientation for Delta J1J2J6 robot on page 155
In a 3-axis Delta robot configuration, Base and End plate offsets are represented as
Rb and Re offsets.
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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 J1J2J6
robot