Geometries with no orientation support
Chapter 3
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
67
Illustration 2 - Side view
•
+J1 is measured counterclockwise around the +X3 axis starting at an angle
of J1=0 when L1 and L2 are both in the X1-X2 plane.
•
+J2 is measured counterclockwise starting with J2=0 when L1 is parallel to
X1-X2 plane.
•
+J3 is measured counterclockwise with J3=0 when L2 is aligned with link
L1.
When the robot is physically in this position, the Logix Designer application
Actual Position tags for the axes must be:
•
J1 = 0.
•
J2 = 0.
•
J3 = 0.
Illustration 3 - Side view
When the robot is physically in the above position, the Logix Designer application
Actual Position tags for the axes must be:
•
J1 = 0.
•
J2 = 90.