Chapter 4
Geometries with orientation support
150
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
J6 axis of rotation is aligned with the Z axis of Base frame.
•
To set the home position for J6 axis, move the J6 axis so that the X axis of
EOA is aligned with the top link of the arm, that is, the X axis of Base
frame.
•
+J6 is measured clock wise around the +Z axis at the Base frame.
See also
Calibrate the Delta J1J2J6 robot
Use these steps to calibrate a Delta J1J2J6 robot.
To calibrate a Delta J1J2J6 robot:
1.
Obtain the angle values from the robot manufacturer for J1, J2, and J6 at
the calibration position. Use these values to establish the reference position.
2.
Refer to manufacturer’s datasheet to determine if the associated sized motor
contains an internal or external gearbox from the motor to actuation at the
links or Joints to move the robot.
3.
On the
Scaling
tab in the
Axis Properties
dialog box, in the
Transmission
Ration I/O
box, set the gear ratio for each axis.
4.
In the
Scaling
box, enter the scaling to apply to each axis (J1, J2) such that
one revolution around the Link1 (load rev) equals 360 .
The same applies to the J6 axis. One revolution of the J6 axis equals 360 .
5.
Move all joints to the calibration position by jogging the robot under
programmed control or manually moving the robot when the joint axes are
in an open loop state.
6.
Do one of the following:
a.
Use the Motion Redefine Position (MRP) instruction to set the
positions of the joint axes to the calibration values obtained in step 1.
b.
Set the configuration value for the joint axes home position to the
calibration values obtained in step 1 and execute a Motion Axis Home
(MAH) instruction for each joint axis.
7.
Move each Joint (J1, J2) to an absolute position of 0.0. Verify that each joint
position reads 0 and the respective L1 is in a horizontal position (XY
Plane).
Calibrate a Delta J1J2J6 robot