Allen-Bradley 1756-M02AE, User Manual, Page: 104 / 236

Chapter 3
Geometries with no orientation support
104
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Homing or moving a joint axis to a position beyond a computed joint limit, and
invoking an MCT instruction, results in an error 67 Invalid Transform position .
For more information regarding error codes, see Logix 5000 Controllers Motion
Instructions Reference Manual , publication MOTION-RM002 .
See also
Maximum positive joint limit condition on page 92
Maximum negative joint limit condition on page 93
The Logix Designer application can be configured for control of robots with
varying reach and payload capacities. The configuration parameter values for the
robot include:
•
Link lengths
•
Base offset
•
End-effector offset
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 length for SCARA Delta robot on page 105
Base Offset for SCARA Delta robot on page 105
End Effector Offset for SCARA Delta robot on page 105
Links are the rigid mechanical bodies attached at joints. The SCARA Delta robot
has two link pairs each with the same lengths. The link attached to each actuated
joint (J1 and J2) is L1 . The parallel bar assembly attached to link L1 is link L2 .
See also
Define configuration parameters for a SCARA Delta robot on page 105
The X1b Base Offset is available for the SCARA Delta robot geometry. Type the
value equal to the distance from the origin of the robot coordinate system to an
actuator joint. The Base Offset value is always a positive number.
Define configuration
parameters for a SCARA Delta
robot
Link lengths for SCARA Delta
Robot
Base Offset for SCARA Delta
Robot