Allen-Bradley 1756-M02AE, User Manual, Page: 162 / 236

Chapter 4
Geometries with orientation support
162
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
As each axis (J1, J2, J3) is rotated, the end plate always moves in XYZ plane
parallel to the base plate. The mechanical connections of the Link L2 via spherical
joints ensure that the base and end plates remain parallel to each other.
When each top link (L1) moves downward, its corresponding joint axis (J1, J2, or
J3) is assumed to be rotating in the positive direction. The three joint axes of the
robot are configured as linear axes.
The J6 is connected at the end of the end plate and provides rotation at the end of
the arm.
Without a work and tool frame, the End of Arm (EOA) is programmed to a (X, Y,
Z, Rz) coordinate. When a tool is attached to the EOA or a different work frame
(other than the default) is defined, the Tool Center Point (TCP) can be
programmed to a full six axis Cartesian point (X, Y, Z, Rx, Ry, and Rz). The
MCTO instruction computes the joint values (J1, J2, J3, and J6) to move the TCP
linearly from the current position to the programmed full Cartesian position,
using the programmed vector dynamics.
In four-axis Delta robots, the End Plate always remains parallel to Base plate (in
XY Plane). As a result, program the Rx, Ry and Rz orientation values with
following valid range of values.
Orientation Axis Valid Ranges
Rx
180
Ry
0
Rz -179.9999 to 180
See also
Establish the reference frame for Delta J1J2J3J6 Robot on page 162
Calibrate a Delta J1J2J3J6 robot on page 164
Configuration parameters for Delta J1J2J3J6 robot on page 165
Identify the Work Envelop for Delta J1J2J3J6 robot on page 172
Maximum Joint Limit condition for Delta J1J2J3J6 robot on page 172
Work and Tool Frame offset limits for Delta J1J2J3J4 robot on page 174
The reference frame is a Cartesian frame which is the base frame for the robot and
all the target points are specified with respect to this base frame. The robot
transformations are set up from base frame to end of arm frame to transform any
Establish the reference frame
for a Delta J1J2J3J6 robot