Chapter 3
Geometries with no orientation support
68
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
•
J3 = -90.
If the physical position and joint angle values of the robot cannot match those
shown in the preceding illustrations, use one of the Alternate Methods for
Establishing the Joint-to-Cartesian reference frame relationship.
See also
Methods for establishing a reference frame for an articulated independent
robot
Use the following methods to establish a reference frame for the robot.
For each:
Use one of these methods to establish the reference frame:
Incremental axis
Each time the power for the robot is cycled.
Absolute axis
Only to establish absolute home.
•
Method 1 - Establishes a Zero Angle Orientation and allows the configured
travel limits and home position on the joint axes to remain operational. Use
this method when operating the axes between the travel limits determined
prior to programming a Motion Redefine Position (MRP) instruction and
want these travel limits to stay operational.
•
Method 2 - Uses a MRP instruction to redefine the axes position to align
with the joint reference frame. This method may require the soft travel
limits to be adjusted to the new reference frame.
See also
Method 1 for an incremental axis
Each axis for the robot has the mechanical hard stop in each of the positive and
negative directions. Manually move or press each axes of the robot against its
associated mechanical hard stop and redefine it to the hard limit actual position
provided by the robot manufacturer. J1 is the axis at the base of the robot that
rotates around X3.
When the robot is moved so that Link1 is parallel to the X3 axis and Link2 is
parallel to X1 axis, the values for the Actual Position tags for the axes in the Logix
Designer application should be:
•
J1 = 0
•
J2 = 90
•
J3 = 0
Methods to establish a
reference frame for an
articulated independent robot
Method 1 - Establish a reference
frame using zero angle
orientation