Allen-Bradley 1756-M02AE, User Manual, Page: 172 / 236

Chapter 4
Geometries with orientation support
172
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Swing Arm Offsets for Delta J1J2J3J6 robot on page 168
The work envelope is the three-dimensional region of space that defines the
reaching boundaries for the robot arm. The typical work envelope for a Delta
robot looks similar to a plane in the upper region, with sides similar to a hexagonal
prism and the lower portion similar to a sphere. For more detailed information
regarding the work envelope of the four-dimensional Delta robot, refer to the
documentation provided by the robot manufacturer.
Program the robot within a rectangular solid defined inside the robot’s work zone.
The rectangular solid is defined by the positive and negative dimensions of the X,
Y, Z virtual source axes. Be sure that the robot position does not go outside the
rectangular solid. Check the position in the event task.
To avoid issues with the singularity positions, the Motion Coordinated
Transform with Orientation (MCTO) instruction internally calculates the joint
limits for the Delta robot geometries. When an MCTO instruction is invoked for
the first time, the maximum positive and maximum negative joint limits are
internally calculated based upon the Link Lengths and Offset values entered on
the
Geometry
and
Offsets
tabs of the
Coordinate System Properties
dialog box.
For more information about the maximum positive and maximum negative joint
limits, refer to:
•
Maximum Joint Limit Conditions
•
Work and Tool Frame Offset Limits
During each scan, the joint positions are checked to ensure that they are within
the maximum and minimum joint limits.
Homing or moving a joint axis to a position beyond a computed joint limit and
then invoking an MCTO instruction results in an error 67 (Invalid Transform
position). For more information regarding error codes, refer to the MCTO
instruction in the online help or the Logix 5000 Controllers Motion Instructions
Reference Manual, publication
MOTION-RM002 .
See also
Maximum Joint Limit condition for Delta J1J2J3J6 robot on page 172
Work and Tool Frame offset limits for Delta J1J2J3J6 robot on page 174
Use these guidelines to determine the maximum joint limit conditions for the
four-dimensional robot.
Identify the work envelope for
Delta J1J2J3J6 robot
Maximum joint limit condition
for Delta J1J2J3J6 robot