Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
185
Example 2
In this example, Joint 4 axis of rotation is at a distance from End plate center
point. Joint 4 and Joint 5 axis are intersecting each other.
The table to shows configuring offsets and Swing Arm Offset values:
Configuring offsets
Swing Arm offset value
Joint 4 axis is at a distance from End plate center point. Offset distance in X positive direction is
measured as
A3
= 50 mm and in Z positive direction is as measured as
D4
= 25mm. (In this
setup, D3 can also be used in place of D4).
A3
= 50
D4
= 25
Joint 4 and Joint 5 are intersecting each other so
D3
and
A4
offset values are zero.
D3
= 0
A4
= 0
From Joint 5 to EOA is measured as
D5
= 75 mm.
D5
= 75
Enter these offset values on the
Offsets
tab in the
Coordinate System Properties
dialog box.