Allen-Bradley 1756-M02AE, User Manual, Page: 28 / 236

Chapter 1
Create and configure a coordinate system
28
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
millimeter link measurements to inches and enter the values in the appropriate
offset fields.
See also
Coordinate System Properties dialog box - Offsets tab parameters on page
28
The settings on the Offsets tab in the Controller System Properties dialog box
define the offsets associated with the coordinate system. The tab also shows the
bitmaps for the offsets related to the geometry.
Parameter Description
Type Read-only. The robot geometry type selected on the General tab.
Coordinate Definition Read-only. The coordinate definition selected on the
General
tab.
Dimension Read-only. The dimension entered on the General tab.
Transform Dimension Read-only. The transform dimension entered on the General tab.
End Effector Offsets
The length of the end effector. The correct end effector offsets are typically available from the
manufacturer.
The end effector offset indicators are X1e, X2e and X3e when the Coordination Definition is
<none>.
Base Offsets The Logix Designer application Kinematics internal equations define the robot origin relative to the
first joint of the robotic arm. The robot manufacturer may specify the origin at a different location.
The difference between these two locations is the base offset values. The correct base offset values
are typically available from the robot manufacturer.
The base offset indicators are X1b, X2b and X3b when the Coordination Definition is <none>.
Base and Effector Plate Dimensions Rb indicates the Base plate radius and Re indicates the End Effector plate radius.
This parameter is available only when the Geometry Type is Delta and the Coordinate Definition is
J1J2J3J6 or J1J2J3J4J5.
Swing Arm Offsets D3, A3, D4, A4, and D5 are offsets indicated in DH parameter style.
This parameter is available only when the Geometry Type is Delta and the Coordinate Definition is
J1J2J6, J1J2J3J6 or J1J2J3J4J5.
Coupling Direction Indicates the direction of coupling between J4 and J5. There are 3 options available:
•
<none> - J4 rotation does not cause any J5 tilt motion
•
Same - J4 positive rotation causes the tilt motion in the same direction of the positive J5 motion
•
Opposite - J4 positive rotation causes tilt motion in the opposite direction of positive J5 motion.
This parameters is available only when the Geometry Type is Delta and the Coordinate Definition is
J1J2J3J4J5.
Coupling Ratio J4:J5 The ratio of the rotation axis to the tilt axis.
This parameter is available only when Geometry Type is Delta and the Coordinate Definition is
J1J2J3J4J5.
See also
Coordinate System Properties dialog box - Offsets tab on page 27
Determine the Coordinate System Type on page 35
Coordinate System Properties dialog
box - Offsets tab parameters