Page 1 User Manual Motion Coordinate System 1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756-M08SE, 1756-M16SE, 1768-M04SE...
Page 2 Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
Page 3 Summary of changes This manual contains new and updated information. Use these reference tables to locate new or changed information. Grammatical and editorial style changes are not included in this summary. Global changes This table identifies changes that apply to all information about a subject in the manual and the reason for the change.
Page 4 Summary of changes Topic Name Reason Program coordinate system with orientation page 45 Added section to describe how to program a coordinate system with orientation. Includes a list of multi-axis coordinated motion instructions to use to program Cartesian moves on robots with orientation control.
Page 5: Table Of Contents
Table of contents Preface Sample projects ..........................11 Additional resources .........................12 Legal Notices ..........................12 Chapter 1 Create and configure a Create a Coordinate System ....................19 Edit Coordinate System properties..................21 coordinate system Coordinate System Properties dialog box ................21 Coordinate System Properties dialog box - General tab........22 Coordinate System Properties dialog box - General tab parameters ..23 Coordinate System Properties dialog box - Geometry tab ........25 Coordinate System Properties dialog box - Geometry tab parameters ..25...
Page 6 Table of contents Bit States at transition points of blended move by using no decel .....52 Bit states at transition points of blended move by using command tolerance 53 Bit states at transition points of blended move by using follow contour velocity constrained or unconstrained ................54 Choose a termination type .....................55 Chapter 3...
Page 7 Table of contents Configure a Delta Two-dimensional robot ...............96 Establish the reference frame for a Delta Two-dimensional robot ....97 Calibrate a Delta Two-dimensional robot ..............98 Identify the work envelope for a Delta Two-Dimensional robot .......98 Define configuration parameters for a Delta Two-dimensional robot .....99 Link Lengths for Delta Two-dimensional robot ..........
Page 8 Table of contents Establish the reference frame for a Delta J1J2J6 robot ........149 Calibrate a Delta J1J2J6 robot ................... 150 Configuration parameters for Delta J1J2J6 robot ..........151 Link Lengths for Delta J1J2J6 robot ................ 151 Base and Effector Plate dimensions for Delta J1J2J6 robot ......152 Swing Arm Offsets for Delta J1J2J6 robot .............
Page 9 Table of contents Program example for turns counter .................. 205 Chapter 5 Configure Camming Camming concepts ........................ 215 Mechanical camming ....................215 Electronic camming....................... 216 Cam Profiles ..........................216 Position Cam Profile ....................217 Time Cam Profile ......................218 Calculate a Cam Profile ....................218 Use Common Cam Profiles ....................
Page 11: Preface
Preface This manual provides information on how to configure various coordinated motion applications. Use the following table to choose a motion coordinated instruction. Information about the coordinate instructions can be found in the Logix5000™ Controllers Motion Instruction Reference Manual, publication MOTION-RM002.
Page 12: Additional Resources
Preface Tip: To access the Vendor Sample Projects.pdf file from Logix Designer application, click Vendor Sample Projects from the Help menu. Additional resources These documents contain additional information concerning related Rockwell Automation products. You can view or download publications at http://literature.rockwellautomation.com.
Page 13 Copyright 2017 Google, Inc. Apache License, Version 2.0 OpenSans License Trademark Notices Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact I/O, ControlLogix, CompactLogix, DCM, DH+, Data Highway Plus, DriveLogix, DPI, DriveTools, Explorer, FactoryTalk, FactoryTalk Administration Console, FactoryTalk Alarms and Events, FactoryTalk Batch, FactoryTalk...
Page 14 Preface EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000 Automation Engineering & Design Environment, Studio 5000 View Designer, SCANport, SLC, SoftLogix, SMC Flex, Studio 5000, Ultra 100, Ultra 200, VersaView, WINtelligent, XM, SequenceManager are trademarks of Rockwell Automation, Inc. Any Rockwell Automation logo, software or hardware product not mentioned herein is also a trademark, registered or otherwise, of Rockwell Automation, Inc.
Page 15 Preface Contact Rockwell Customer Support Telephone — 1.440.646.3434 Online Support — http://www.rockwellautomation.com/support/ Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 17: Create And Configure A Coordinate System
Chapter 1 Create and configure a coordinate system In the Logix Designer application, a coordinate system is a grouping of one or more primary or ancillary axes created to generate coordinated motion. The Logix Designer application supports the following geometry types. •...
Page 18: Chapter 1
Chapter 1 Create and configure a coordinate system Coordinate systems with non-orthogonal axes Articulated Dependent coordinate system Articulated Independent coordinate system SCARA Independent coordinate system Delta Two-dimensional coordinate system Delta Three-dimensional coordinate system SCARA Delta coordinate system Delta J1J2J6 coordinate system Delta J1J2J3J6 coordinate system Delta J1J2J3J4J5 coordinate system See also...
Page 19: Create A Coordinate System
Create and configure a coordinate system Chapter 1 Determining the coordinate system type page 35 Create a Coordinate System Use the Coordinate System tag to set the attribute values used by the Multi-Axis Coordinated Motion instructions in motion applications. Create the Coordinate System tag before executing any of the Multi-Axis Coordinated Motion instructions.
Page 20 Chapter 1 Create and configure a coordinate system The New Tag dialog box opens. 2. In the Name box, enter the name of the coordinate system. 3. [optional] In the Description box, type a description of the coordinate system. 4. In the Type box, select the type of tag to create. For a coordinate system, the only valid choices are: •...
Page 21: Edit Coordinate System Properties
Create and configure a coordinate system Chapter 1 8. Select the Open COORDINATE_SYSTEM check box to open the Coordinate System Wizard after creating the tag. Once the tag is created, double-click the coordinate system to open the Coordinate System Properties dialog box to edit the coordinate system tag.
Page 22: Coordinate System Properties Dialog Box - General Tab
Chapter 1 Create and configure a coordinate system Wizard/Coordinate System Description Properties tab General The General tab is used to: • Associate the tag to a Motion Group. • Select the coordinate system type. • Select the coordinate definition for the geometry type. •...
Page 23: Coordinate System Properties Dialog Box - General Tab Parameters
Create and configure a coordinate system Chapter 1 • Associate the coordinate system tag to a Motion Group. • Select the type of coordinate system to configure. • Select the coordinate definition based on the robot geometry structure. • Select the dimension and transform dimension if the coordinate definition is .
Page 24 Chapter 1 Create and configure a coordinate system Coordinate Definition Defines the number of coordinates in a coordinate system type. For geometries without orientation support, the coordinate definition defaults to . For geometries with orientation support, the coordinate definition depends on the geometry Type selection. Available choices.
Page 25: Coordinate System Properties Dialog Box - Geometry Tab
Create and configure a coordinate system Chapter 1 Determine the Coordinate System Type page 35 Coordinate System Properties How do I open the Geometry tab? dialog box - Geometry tab 1. In the Controller Organizer, expand the Motion Group folder, and double-click the coordinate system.
Page 26: Coordinate System Properties Dialog Box - Units Tab
Chapter 1 Create and configure a coordinate system Parameter Description Link Lengths The length of each link in an articulated robotic arm (coordinate system). The measurement units for the articulated coordinate system are defined by the measurement units configured for the affiliated Cartesian coordinate system. The two coordinate systems are linked or affiliated with each other by an MCT instruction.
Page 27: Coordinate System Properties Dialog Box - Offsets Tab
Create and configure a coordinate system Chapter 1 Parameter Description Type Read-only. The robot geometry type selected on the General tab. Read-only. The coordinate definition selected on the General tab. Coordinate Definition Read-only. The dimension entered on the General tab. Dimension Read-only.
Page 28: Coordinate System Properties Dialog Box - Offsets Tab Parameters
Chapter 1 Create and configure a coordinate system millimeter link measurements to inches and enter the values in the appropriate offset fields. See also Coordinate System Properties dialog box - Offsets tab parameters page The settings on the Offsets tab in the Controller System Properties dialog box Coordinate System Properties dialog define the offsets associated with the coordinate system.
Page 29: Coordinate System Properties Dialog Box - Joints Tab
Create and configure a coordinate system Chapter 1 Coordinate System Properties How do I open the Joints tab? dialog box - Joints tab 1. In the Controller Organizer, expand the Motion Group folder, and double-click the coordinate system. 2. On the Coordinate System Properties dialog box, click the Joints tab. Use the settings on the Joints tab in the Coordinate System Properties dialog box to define the Joints Conversion ratios.
Page 30: Coordinate System Properties Dialog Box - Dynamics Tab Parameters
Chapter 1 Create and configure a coordinate system double-click the coordinate system. 2. On the Coordinate System Properties dialog box, on the General tab, select Cartesian as the Type. 3. Click the Dynamics tab. Use the settings on the Dynamics tab in the Coordinate System Properties dialog box to enter Vector, Actual and Command Position Tolerance, and Orientation values for a Cartesian coordinate system.
Page 31 Create and configure a coordinate system Chapter 1 Parameter Description Vector Maximum Acceleration Jerk The maximum acceleration jerk rate of the axis. The jerk parameters only apply to S-curve profile moves using these instructions: • MCS • MCCD • MCCM •...
Page 32: Manual Adjust Dialog Box - Dynamics Tab
Chapter 1 Create and configure a coordinate system Parameter Description Opens the Manual Adjust Properties dialog box to make changes to the Vector, Position Manual Adjust Tolerance, and Orientation values. The Manual Adjust button is available when online with the controller and there are no pending edits.
Page 33: Coordinate System Properties Dialog Box - Motion Planner Tab
Create and configure a coordinate system Chapter 1 Parameter Description Actual The value in coordination units, for Actual Position to be used by Coordinated Motion instructions when they have a Termination Type of Actual Tolerance. The value in coordination units, for Command Position to be used by Coordinated Motion Command instructions when they have a Termination Type of Command Tolerance.
Page 34: Coordinate System Properties Dialog Box - Tag Tab
Chapter 1 Create and configure a coordinate system Parameter Description Master Delay Compensation Determines whether to enable or disable Master Delay Compensation. The Master Delay Compensation is used to balance the delay time between reading the Master Axis command position and applying the associated slave command to the slave's servo loop.
Page 35: Coordinate System Properties Dialog Box - Tag Tab Parameters
Create and configure a coordinate system Chapter 1 Coordinate System Properties dialog The settings on the Tag tab in the Coordinate System Properties dialog box box - Tag tab parameters provide information about the Coordinate System tag. The tag name and description can be updated only when the application is offline.
Page 36 Chapter 1 Create and configure a coordinate system Configure a Cartesian Gantry robot Cartesian page 111 Cartesian XYZRxRyRz Configure a Cartesian XYZRxRyRz Coordinate System page 39 Articulated 2 or 3 Configure an Articulated Dependent Dependent robot page 75 Articulated ...
Page 37 Create and configure a coordinate system Chapter 1 SCARA Configure a SCARA Independent Independent page 107 Delta Configure a Delta Two-dimensional robot page 96 Delta Configure a Delta Three-dimensional robot page Delta J1J2J6 Configuring a Delta J1J2J6 robot page 147 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 38 Chapter 1 Create and configure a coordinate system Configuring a Delta J1J2J3J6 robot Delta J1J2J3J6 page 161 Delta J1J2J3J4J5 Configure a Delta J1J2J3J4J5 robot page 175 SCARA Delta Configuring a SCARA Delta robot page 102 See also Coordinate System Properties dialog boxes page 21 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 39: Cartesian Coordinate System
Chapter 2 Cartesian coordinate system Use this information to configure a Cartesian coordinate system. See also Configure a Cartesian coordinate system page 39 Program coordinate system with no orientation page 42 Program coordinate system with orientation page 45 Configure a Cartesian Use these guidelines to configure a Cartesian coordinate system in the Coordinate System Properties dialog box.
Page 40 Chapter 2 Cartesian coordinate system The Coordinate column displays X1, X2 or X3, depending on the Dimension and Transform Dimension. The Coordination mode is Primary for all the axes. Select XYZRxRyRz to configure a Cartesian coordinate system with orientation support. The Dimension and Transform Dimension values are automatically set to 6 and are unavailable to modify.
Page 41 Cartesian coordinate system Chapter 2 Geometry tab On the Geometry tab, the Link Length and Zero Angle Orientation parameters are unavailable. These parameters are not applicable for the Cartesian coordinate system. Offsets tab Set the Coordinate Definition to , then click the Offsets tab to configure the End Effector Offsets and the Base Offsets.
Page 42: Program Coordinate System With No Orientation
Chapter 2 Cartesian coordinate system Tip: The parameters on the Dynamics tab are unavailable when online, click the Manual Adjust button to update them. See also Coordinate System Properties dialog box page 21 Program coordinate system Use these multi-axis coordinated motion instructions to perform linear and circular moves in single and multidimensional spaces.
Page 43: Blended Moves And Termination Types With Mclm Or Mccm
Cartesian coordinate system Chapter 2 Blended moves and To blend two MCLM or MCCM instructions, start the first one and queue the second one. The tag for the coordinate system gives two bits for queuing termination types with MCLM instructions. or MCCM •...
Page 44 Chapter 2 Cartesian coordinate system Step = 3. When an instruction completes, it is removed from the queue and there is space for another instruction to enter the queue. Both bits always have the same value because you can queue only one pending instruction at a time. If the application requires several instructions to be executed in sequence, the bits are set by using these parameters.
Page 45: Program Coordinate System With Orientation
Cartesian coordinate system Chapter 2 See also Termination types page 55 Program coordinate system Use these multi-axis coordinated motion instructions to program Cartesian moves on robots with orientation control. with orientation Instruction Description Use the MCPM instruction to start a multi-dimensional coordinated path move for the specified Motion Coordinated Path Move (MCPM) Primary axes (X, Y, Z) and orientation axes (Rx, Ry, Rz) of a Cartesian coordinate system.
Page 46 Chapter 2 Cartesian coordinate system • The linear and orientation vector components of the MCPM moves are blended simultaneously. • The MCPM instruction supports blending through the Blending Termination Type 6. The other blending termination types (Termination Types 2 and 3) are not supported for the MCPM instruction.
Page 47: Use Mcpm Blending With Orientation To Synchronize Cartesian Path And Orientation Motion
Cartesian coordinate system Chapter 2 CommandToleranceLinear for specifying start orientation. Instead, orientation blending is planned to coincide with • The blended linear trajectory path dynamics, if such a component exists, or • 100%/50% rules are used to blend the orientation move over the full length of the path move when a linear component does not exist.
Page 48 Chapter 2 Cartesian coordinate system • Second move: horizontal (Y) move to the target position 600 millimeters. • Third move: vertical move 300 millimeters down to the target position. • The orientation of (Rz) must change by +50.0 by the end of the move trajectory.
Page 49: Superimposed Motion With Mcpm
Cartesian coordinate system Chapter 2 This trend shows the Rz orientation velocity profile and the Z and Y axis position profiles versus time, and illustrates how the linear command tolerance parameter is used with queued MCPM instructions to synchronize the orientation move with respect to the CP linear motion.
Page 50 Chapter 2 Cartesian coordinate system As the robot moves with incremental moves, towards the end point, the superimposed move on the concerned axis results in a different axis position than the one programmed on the path point, resulting in joint values which reach the user desired position (thereby tracking the object).
Page 51: Bit State Diagrams For Blended Moves
Cartesian coordinate system Chapter 2 Tip: To use this Kinematic sample projects, on the Help menu, click Vendor Sample Projects and then click the Motion category. The Rockwell Automation sample project's default location is: c:\Users\Public\Public Documents\Studio 5000\Sample\ENU\v\Rockwell Automation Bit state diagrams for The following diagrams show bit states at the transition points for various types of blended moves.
Page 52: Bit States At Transition Points Of Blended Move By Using No Decel
Chapter 2 Cartesian coordinate system Move1.DN Move1.IP Move1.AC Move1.PC Move2.DN Move2.IP Move2.AC Move2.PC cs1.MoveTransitionStatus cs1.MovePendingStatus cs1.MovePendingQueueFullStatus Bit States at transition points of The following lists the bit states at transition points of blended move by using no decel. blended move by using no decel linear linear move This table shows the bit status at the various transition points shown in the...
Page 53: Bit States At Transition Points Of Blended Move By Using Command Tolerance
Cartesian coordinate system Chapter 2 Move1.PC Move2.DN Move2.IP Move2.AC Move2.PC cs1.MoveTransitionStatus cs1.MovePendingStatus cs1.MovePendingQueueFullStatus Bit states at transition points of The following lists the bit states at transition points of Blended Move by using Command Tolerance. blended move by using command tolerance linear linear move This table shows the bit status at the various transition points shown in the...
Page 54: Bit States At Transition Points Of Blended Move By Using Follow Contour Velocity Constrained Or Unconstrained
Chapter 2 Cartesian coordinate system Move2.IP Move2.AC Move2.PC cs1.MoveTransitionStatus cs1.MovePendingStatus cs1.MovePendingQueueFullStatus Bit states at transition points of The following lists the bit states at transition points of blended move by using follow contour velocity constrained or unconstrained. blended move by using follow contour velocity constrained or unconstrained linear...
Page 55: Choose A Termination Type
Cartesian coordinate system Chapter 2 Choose a termination type The termination type determines when the instruction is complete. It also determines how the instruction blends its path into the queued MCLM or MCCM instruction, if there is one. To choose a termination type: If you want the axes to (vector speeds) And you want the instruction to complete Then use this Termination Type...
Page 56 Chapter 2 Cartesian coordinate system use a specified Command Tolerance The command position gets within the Command 6 - Command Tolerance Position Tolerance of the coordinate system. Programmed To make sure that this is the right choice for you: • Review the tables below.
Page 57 Cartesian coordinate system Chapter 2 The Logix Designer application compares To the And uses the For the 100% of the configured length of the first instruction configured Command Tolerance for shorter of the two lengths command Tolerance length used for using a Command Tolerance termination type the Coordinate System the first instruction...
Page 58 Chapter 2 Cartesian coordinate system 5 - Follow Contour Velocity This termination type is similar to the contour velocity Unconstrained constrained. It has these differences: • Use this termination type to get a triangular velocity profile across several moves. This reduces jerk. •...
Page 59 Cartesian coordinate system Chapter 2 Velocity Profile of Two Collinear Moves When the Second Move has a Lower Velocity than the First Move and Termination Type 2 or 6 is Used The following illustration show the velocity profile of two collinear moves using a Command Tolerance (2) termination type.
Page 60 Chapter 2 Cartesian coordinate system Velocity Profile of Two Collinear Moves When the Second Move has a Lower Velocity than the First Move and Termination Type 3, 4, or 5 is Used This illustration shows a velocity profile of two collinear moves. The second MCLM instruction has a higher velocity than the first MCLM instruction and one of these termination types are used: •...
Page 61 Cartesian coordinate system Chapter 2 Refer to the following Example of a Symmetric Profile for more details. We recommend that you terminate any sequence of moves by either Termination Type 0 or 1, that is, TT0 or Important: TT1. To guarantee that your trajectory is symmetric, you must terminate any sequence of moves by either Termination Types 0 or 1.
Page 62 Chapter 2 Cartesian coordinate system How To Get a Triangular Velocity Profile If you want to program a pick and place action in four moves, minimize the Jerk rate, and use a triangular velocity profile. Then, use termination type 5. The other termination types may not let you get to the speed you want.
Page 63 Cartesian coordinate system Chapter 2 Termination Type 5 The axes accelerate to the speed that you want. You must calculate the starting speed for each move in the deceleration-half of the profile. Blending Moves at Different Speeds You can blend MCLM and MCCM instructions where the vector speed of the second instruction is different from the vector speed of the first instruction.
Page 64 Chapter 2 Cartesian coordinate system Faster 2 - Command Tolerance 3 - No Decel 6 - Command Tolerance Programmed 4 - Contour Velocity Constrained 5 - Contour Velocity Unconstrained Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 65: Configure An Articulated Independent Robot
Chapter 3 Geometries with no orientation support Use these guidelines to configure the 3-axis robot geometries with no orientation support in Logix Designer application. These robot geometries include: • Articulate Independent robot • Articulate Dependent robot • Delta Three-dimensional robot •...
Page 66: Establish Reference Frame For An Articulated Independent Robot
Chapter 3 Geometries with no orientation support Methods to establish a reference frame for Articulated Independent robot page 68 Work envelope for Articulated Independent robot page 70 Define configuration parameters for Articulated Independent robot page 71 Establish reference frame for an The reference frame is the Cartesian coordinate frame that defines the origin and the three primary axes (X1, X2, and X3).
Page 67 Geometries with no orientation support Chapter 3 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.
Page 68: Methods To Establish A Reference Frame For An Articulated Independent Robot
Chapter 3 Geometries with no orientation support • 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...
Page 69: Method 2 - Establish A Reference Frame Using A Mrp Instruction
Geometries with no orientation support Chapter 3 If the Actual Position tags do not show these values, configure the Zero Angle Orientation parameters in the Coordinate System Properties dialog box for the joint or joints that do not correspond. If the Logix Designer application read-out values Set the Zero Angle Orientations on the Coordinate are: System Properties dialog box to:...
Page 70: Work Envelope For Articulated Independent Robot
Chapter 3 Geometries with no orientation support • J1 = 0 • J2 = 90° • J3 = -90° The Joint-to-Cartesian reference frame relationship is automatically established by the Logix controller after the Joint coordinate system parameters, which are the link lengths, base offsets, and end-effector offsets, are configured and the MCT instruction is enabled.
Page 71: Configuration Parameters For Articulated Independent Robot
Geometries with no orientation support Chapter 3 If the range-of-motion values for the articulated Typically, the work envelope is: robot are: Side view - Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position of 0 .
Page 72: Link Lengths For Articulated Independent Robot
Chapter 3 Geometries with no orientation support If the robot is two-dimensional, then X3b and X3e are X2b and X2e. See also Link lengths for Articulated Independent robot page 72 Base offsets for Articulated Independent robot page 73 End effector offsets for Articulated Independent robot page 74 Link lengths for Articulated Link lengths are the rigid mechanical bodies attached at joints.
Page 73: Base Offsets For Articulated Independent Robot
Geometries with no orientation support Chapter 3 Enter the link lengths on the Geometry tab in the Coordinate System Properties dialog box. See also Base offset for Articulated Independent robot page 73 End effector offsets for Articulated Independent robot page 74 Configuration parameters for Articulated Independent robot page 71 Base offsets for Articulated...
Page 74: End-Effector Offsets For Articulated Independent Robot
Chapter 3 Geometries with no orientation support See also Link Lengths page 72 End Effector Offsets page 74 Configuration parameters for Articulated Independent robots page 71 End-Effector Offsets for The robot can have an end effector attached to the end of robot link L2. If there is an attached end effector, configure the End-Effector Offset value on the Offsets Articulated Independent robot tab in the Coordinate System Properties dialog box.
Page 75: Configure An Articulated Dependent Robot
Geometries with no orientation support Chapter 3 Some robots also have an offset defined for the J3 joint. Account for this value when computing the X3e end effector offset value. If the value for X3e offset is entered as the sum of X3e1+X3e2 (-3+1.5 = -1.5), the configured value for X3e is -1.5.
Page 76: Reference Frame For Articulated Dependent Robots
Chapter 3 Geometries with no orientation support Work envelope for Articulated Dependent robot page 78 Define configuration parameters for Articulated Dependent robot page Reference frame for Articulated The reference frame is the Cartesian (typically the source) coordinate frame that defines the origin and the primary axes, X1, X2, and X3. These are used to Dependent robots measure the real Cartesian positions.
Page 77 Geometries with no orientation support Chapter 3 Example 2: Figure 79 - Articulated Dependent 2 When the robot is in this position, the Logix Designer application Actual Position tags for the axes must be: • J1 = 0. • J2 = 90. •...
Page 78: Methods To Establish A Reference Frame For An Articulated Dependent Robot
Chapter 3 Geometries with no orientation support Articulated dependent robot page 75 Methods to establish a Use the following methods to establish a reference frame for the robot. reference frame for an For each: Use one of these methods to establish the reference frame: articulated dependent robot Incremental axis Each time the power for the robot is cycled.
Page 79: Configuration Parameters For Articulated Dependent Robot
Geometries with no orientation support Chapter 3 If the range-of-motion values for the articulated Typically, the work envelope is: robot are: J1 = ± 170 J2 = 0 to 180 J3 = ± 60 L1 = 10 L2 = 12 Top view - Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position of Side view - Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position of See also...
Page 80: Link Lengths For Articulated Dependent Robot
Chapter 3 Geometries with no orientation support Important: Verify that the values for the link lengths, base offsets, and end-effector offsets are entered into the Configuration Parameters dialog box using the same measurement units. This example illustrates the typical configuration parameters for an Articulated Dependent robot.
Page 81: Base Offsets For Articulated Dependent Robot
Geometries with no orientation support Chapter 3 Type the Link Length values. The Link Length values in this example are: • L1 = 10.0 • L2 = 12.0 See also Configuration parameters for Articulated Dependent robot page 79 End-Effector Offsets for Articulated Dependent robot page 82 Base offsets for Articulated Dependent robot page 81...
Page 82: End-Effector Offsets For Articulated Dependent Robot
Chapter 3 Geometries with no orientation support See also Configuration parameters for Articulated Dependent robot page 79 Link lengths for Articulated Dependent robot page 80 End-Effector Offsets for Articulated Dependent robot page 82 End-Effector Offsets for The robot can have an end effector attached to the end of robot link L2. If there is an attached end effector, configure the End-Effector Offset value on the Offsets Articulated Dependent robot tab in the Coordinate System Properties dialog box.
Page 83: Arm Solutions
Geometries with no orientation support Chapter 3 Some robots also have an offset defined for the J3 joint. Account for this value when computing the X3e end effector offset value. If the value for X3e offset is entered as the sum of X3e1+X3e2 (-3+1.5 = -1.5), the configured value for X3e is -1.5.
Page 84: Left-Arm And Right-Arm Solutions For Two-Axes Robots
Chapter 3 Geometries with no orientation support Plan for singularity page 86 Encounter a no-solution position page 86 Left-arm and right-arm A robot having an arm configuration has two kinematics solutions when attempting to reach a given position. Point A is shown in the following solutions for two-axes robots illustration.
Page 85: Change The Robot Arm Solution
Geometries with no orientation support Chapter 3 Right-arm Right-arm mirror Left-arm Left-arm mirror See also Arm solutions page 83 You can switch the robot from a left-arm solution to a right-arm solution or vice Change the robot arm solution versa. This is done automatically when a joint move is programmed forcing a left/right change to occur.
Page 86: Plan For Singularity
Chapter 3 Geometries with no orientation support Example: Suppose, you want to move the robot from position A (x1,y1) to position B (X2,Y2) as shown in th following figure . At position A, the system is in a left arm solution. When programming a Cartesian move from A (X1,Y1) to B (X2,Y2), the system moves along the straight line from A to B while maintaining a left arm solution.
Page 87: Delta Robot Geometries
Geometries with no orientation support Chapter 3 For example, if an Articulated Independent robot has two 10-inch arms, the maximum reach is 20 inches. Programming to a Cartesian position beyond 20 inches produces a condition where no mathematical joint position exists. Avoid programming the robot towards a no-solution position when programming in Cartesian mode.
Page 88 Chapter 3 Geometries with no orientation support The Delta robot in this illustration is a three-degree of freedom robot with an optional fourth degree of freedom used to rotate a part at the tool tip. In the Logix Designer application, the first three-degrees of freedom are configured as three joint axes (J1, J2, J3) in the robots coordinate system.
Page 89: Establish The Reference Frame For A Delta Three-Dimensional Robot
Geometries with no orientation support Chapter 3 Define Configuration Parameters for Delta Three-dimensional robot page 94 Establish the reference frame The reference frame for the Delta geometries is located at the center of the top fixed plate. Joint 1, Joint 2, and Joint 3 are actuated joints. If the Delta coordinate for a Delta Three-dimensional system in the Logix Designer application is configured with the joints homed at robot...
Page 90: Alternate Method For Calibrating A Delta Three-Dimensional Robot
Chapter 3 Geometries with no orientation support 4. Move each joint to an absolute position of 0.0. Verify that each joint position reads 0 degrees and the respective L1 is in a horizontal position. If L1 is not in a horizontal position, see the alternate method for calibrating a Delta three-dimensional robot.
Page 91: Identify The Work Envelope For A Delta Three-Dimensional Robot
Geometries with no orientation support Chapter 3 Delta Robot with Joints Homed at 30 Configuring Delta robot Zero Angle orientation The work envelope is the three-dimensional region of space that defines the Identify the work envelope for reaching boundaries for the robot arm. The typical work envelope for a Delta a Delta Three-dimensional robot looks similar to plane in the upper region, with sides similar to a hexagonal robot...
Page 92: Maximum Positive Joint Limit Condition
Chapter 3 Geometries with no orientation support To avoid issues with singularity positions, the MCT instruction internally calculates the joint limits for the Delta robot geometries. When an MCT 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 in the Coordinate System Properties dialog box.
Page 93: Maximum Negative Joint Limit Condition
Geometries with no orientation support Chapter 3 Maximum positive joint limit position R = absolute value of (X1b - X1e) Maximum negative joint limit The derivations for the maximum negative joint limit applies to the condition when L1 and L2 are folded back on top of each other. condition R is computed by using the base and end-effector offsets values (X1b and X1e).
Page 94: Define Configuration Parameters For A Delta Three-Dimensional Robot
Chapter 3 Geometries with no orientation support Define configuration Configure the Logix Designer application to control robots with varying reach and payload capacities. The configuration parameter values for the robot include: parameters for a Delta Three-dimensional robot • Link lengths •...
Page 95: Base Offsets For Delta Three-Dimensional Robot
Geometries with no orientation support Chapter 3 See also Define configuration parameters for a Delta Three-dimensional robot page 94 Base Offset for Delta Three-dimension robot page 95 End-Effector Offset for Delta Three-dimensional robot page 95 Base Offsets for Delta The X1b base offset value is available for the three-dimensional Delta robot geometry.
Page 96: Configure A Delta Two-Dimensional Robot
Chapter 3 Geometries with no orientation support Offset values are always positive numbers. Enter the end effector offset values on the Offsets tab in the Coordinate System Properties dialog box. See also Define configuration parameters for a Delta Three-dimensional robot page 94 Base Offsets for Delta Three-dimensional robot page 95...
Page 97: Establish The Reference Frame For A Delta Two-Dimensional Robot
Geometries with no orientation support Chapter 3 are actuated joints. The joints between links L1 and L2 and between L2 and the base plate are unactuated joints. Each joint is rotated independently to move the gripper to a programmed (X1, X2) position.
Page 98: Calibrate A Delta Two-Dimensional Robot
Chapter 3 Geometries with no orientation support See also Calibrate a Delta Two-dimensional robot page 98 Calibrate a Delta Calibrate a Delta two-dimensional robot using the same method for calibrating a Delta three-dimensional robot. Obtain the angle values from the robot Two-dimensional robot manufacturer for J1 and J2 at the calibration position.
Page 99: Define Configuration Parameters For A Delta Two-Dimensional Robot
Geometries with no orientation support Chapter 3 Homing or moving a joint axis to a position beyond a computed joint limit and then invoking an MCT instruction, results in an error 67 (Invalid Transform position). For more information regarding error codes see the Logix 5000 Controllers Motion Instructions Reference Manual, publication...
Page 100: Link Lengths For Delta Two-Dimensional Robot
Chapter 3 Geometries with no orientation support See also Configuration parameters for a Delta Two-dimensional robot page 99 The X1b base offset value is available for the two-dimensional Delta robot Base Offsets for Delta geometry. Enter a value equal to the distance from the origin of the robot Two-dimensional robot coordinate system to one of the actuator joints.
Page 101: End-Effector Offsets For Delta Two-Dimensional Robot
Geometries with no orientation support Chapter 3 See also Define configuration parameters for a Delta Two-dimensional robot page 99 Link lengths for Two-dimensional robot page 94 End-Effector Offsets for Two-dimensional robot page 95 End-Effector Offsets for Delta There are two end effector offsets available for the two-dimensional Delta robot geometry.
Page 102: Configure A Scara Delta Robot
Chapter 3 Geometries with no orientation support Configure a SCARA Delta The SCARA Delta robot geometry is similar to a two-dimensional Delta robot geometry except that the X1-X2 plane is tilted horizontally with the third linear robot axis in the vertical direction (X3). See also Establish the reference frame for a SCARA Delta robot page 103...
Page 103: Identify The Work Envelope For A Scara Delta Robot
Geometries with no orientation support Chapter 3 • Configure the source and the target coordinate system with a transform dimension of two. • The linear axis configured as a third axis must be the same for both the source and target coordinate systems. Calibrate a SCARA Delta robot Calibrate a SCARA Delta robot using the same method for calibrating a Delta three-dimensional robot.
Page 104: Calibrate A Scara Delta Robot
Chapter 3 Geometries with no orientation support Homing or moving a joint axis to a position beyond a computed joint limit, and invoking an MCT instruction, results in an error 67 Invalid Transform position. For more information regarding error codes, see Logix 5000 Controllers Motion Instructions Reference Manual, publication MOTION-RM002.
Page 105: Define Configuration Parameters For A Scara Delta Robot
Geometries with no orientation support Chapter 3 See also Define configuration parameters for a SCARA Delta robot page 105 End Effector Offset for SCARA The X1e End-Effector Offsets is available for the SCARA Delta robot geometry on the Offsets tab in the Coordinate System Properties dialog box. Type the Delta Robot value for the distance from the center of the moving plate to one of the spherical joints of the parallel arms.
Page 106: Configure A Delta Robot With A Negative X1B Offset
Chapter 3 Geometries with no orientation support The base offset X1b is the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints. In the previous figure, one of the actuator joints (P1), is on the negative side of X1. The base offset X1b is -10 units from the origin of the coordinate system (X1 - X2 intersection) to P1.
Page 107: Configure A Scara Independent Robot
Geometries with no orientation support Chapter 3 linear axis in the vertical direction. Use these guidelines when configuring a SCARA Independent robot. See also Establish the reference frame for a SCARA Independent robot page 107 Identify the work envelope for a SCARA Independent robot page 109 Define configuration parameters for a SCARA Independent robot page...
Page 108 Chapter 3 Geometries with no orientation support When configuring the parameters for the source coordinate system and the target coordinate system for a SCARA Independent robot, observe these guidelines: • The transform dimension value should be set to two for both the source and target coordinate systems because only J1 and J2 are involved in the transformations.
Page 109: Define Configuration Parameters For A Scara Independent Robot
Geometries with no orientation support Chapter 3 • An outer radius (R2) equal to |L1+L2|. Define configuration Configure the Logix Designer application to control robots with varying reach and payload capacities. The configuration parameter values for the robot include: parameters for a SCARA Independent robot •...
Page 110: Link Lengths For Scara Independent Robot
Chapter 3 Geometries with no orientation support Type the Link Lengths values. For the robot shown in SCARA Independent, the Link Length values are: • L1 = 20 • L2 = 40 Base offsets and end-effector offsets do not apply to a SCARA Independent robot configuration.
Page 111: Configure A Cartesian Gantry Robot
Geometries with no orientation support Chapter 3 To establish a Local coordinate system with axes positions different from the reference frame, use the Motion Redefine Position (MRP) instruction to reset the position register. Also use the Offset Vector in the MCT transform instruction to establish an offset between the Local coordinate system and the reference frame.
Page 112: Configure A Cartesian H-Bot Robot
Chapter 3 Geometries with no orientation support Configure a Cartesian H-bot The H-bot is a special type of Cartesian two-axis gantry robot. This type of machine has three rails positioned in the form of a letter H. Two motors are robot positioned at the end of each leg of the robot.
Page 113: Establish The Reference Frame For A Cartesian H-Bot
Geometries with no orientation support Chapter 3 1. Configure CS1 to contain the virtual X1 and X2 axes. 2. Configure CS2 to contain the real X1 and X2 axes. 3. Configure the Orientation vector of the MCT instruction as (0,0, -45), a negative degree rotation around the X3 axis.
Page 115: Cartesian Coordinate Frame
Chapter 4 Geometries with orientation support Use these guidelines and information to configure the robot geometries with orientation support in Logix Designer application. These robot geometries include: • Delta J1J2J6 robot • Delta J1J2J3J6 robot • Delta J1J2J3J4J5 robot Also included is information about: •...
Page 116: Cartesian Point Specification
Chapter 4 Geometries with orientation support Point conversion page 125 RxRyRz, flip, mirror flip condition page 126 Translation and rotation example page 132 Cartesian Point Specification The Cartesian Point is composed of the following two components: • Translation - describes the vector connecting two Cartesian points •...
Page 117 Geometries with orientation support Chapter 4 Orientation Specification It is often necessary to represent a point in space, and describe the orientation of a body in space. See the orientation of the aircraft in the following diagram. Orientation specifies the roll, pitch and yaw (orientation) of a flying aircraft. Roll, pitch and yaw are standard navigation terms for airplanes and ships, and represent the rotations around X, Y, and Z axes of the base coordinate system.
Page 118: Transform Representation Of Point
Chapter 4 Geometries with orientation support Another example is the point directly between the fingertips of a manipulator shown in the following diagram. The orientation or pose specifies how the manipulator is oriented. For example, one of the orientation parameters is how the manipulator is approaching the object between the fingers.
Page 119 Geometries with orientation support Chapter 4 Translation Specification of Point The translation specifies the position vector of the point as discussed above with three components X,Y,Z. Rotation Specification of Point - n,o,a The orientation specifies the orientation of the point specified by three vectors as shown in the figure above.
Page 120 Chapter 4 Geometries with orientation support The three 3 by 1 vectors n o a form a 3 by 3 Rotation matrix which defines the rotated frame with respect to the base frame of the robot. The vectors n o a are unit vectors with respect to the base coordinate system.
Page 121 Geometries with orientation support Chapter 4 Transform It turns out that the transform specification for point can also represent transform that can be used to transform any point in the reference coordinate system to the target coordinate system. And so the transform T to transform points from reference frame {A} to target frame {B} is given by the following matrix equation.
Page 122 Chapter 4 Geometries with orientation support Translation Transform The translation transform is simpler and shown by the following figure as two dimensional coordinate transform example in the XZ plane. With 3D space the example would be a little more complex but can be worked using matrix multiplication mathematics.
Page 123: Orientation Specification
Geometries with orientation support Chapter 4 the base frame. The transforms align XYZ base frame to n o a with one to 3 successive rotations. The transforms below only represent one rotation. Using this rotation matrix one can rotate Ɵ to any value in the range of +/-180 to obtain the rotation matrix around desired base axis.
Page 124 Chapter 4 Geometries with orientation support • Start with the frame coincident with a known reference frame {A}. • Rotate {B} first about X by an angle Rx, • then about Y by an angle Ry, • and, finally, about Z by an angle Rz.
Page 125: Point Conversion
Geometries with orientation support Chapter 4 • and, finally, about X " by an angle Rx. In this convention, each rotation is performed about an axis moving frame {B} rather than one of the fixed reference frame {A}. Such sets of three rotations are called Euler angles.
Page 126: Rxryrz, Flip, Mirror Flip Condition
Chapter 4 Geometries with orientation support As a result, it is necessary to convert target point specified in XYZRxRyRz user format to its equivalent transform point represented by the 4 x 4 transform matrix. The transform point along with other transforms that map for instance tool tip with respect to the end of arm is used to set up motion of Robot manipulator through its work envelope in Cartesian or joint space to achieve the specified motion.
Page 127 Geometries with orientation support Chapter 4 following diagram to handle full rotation of 360 around Y axis. At the 90 point of Ry, the Rx and Rz need to mirror flip as shown in the trends. The following is a 3D diagram of a series of points with Ry which has four regions as shown in the diagram.
Page 128 Chapter 4 Geometries with orientation support Tip: For non flip angle Ry is measured with Z- axis and for flip condition angle Ry is measured with Z axis. Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 129 Geometries with orientation support Chapter 4 The trends above show the same Ry range in non flip and flip region and Rx (180 to 0) and Rz (45 t0 -135) transitions at flip points. Ry range goes from -90 to 0 (flip negative) to -90 to 90 (non flip) to 90 to 0 (flip positive) in this example.
Page 130 Chapter 4 Geometries with orientation support Important: Even though the trends for Rx, Ry and Rz may look discontinuous, the transformations generate smooth trends for corresponding J4, J5 and J6 axes. Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 131 Geometries with orientation support Chapter 4 The Ry Mirror Image Point shown on 3D space with fixed angle rotations. [0,0,0,180,70,45] and mirror image [0,0,0,0,70,-135]. The points are the same from orientation point of view at final orientation point but the orientation is achieved by rotating with different sequence.
Page 132: Translation And Rotation Example
Chapter 4 Geometries with orientation support The Rx Ry Rz Mirror Image Point shown from trends in Logix Designer. The point 180,89,-106 is mirror non-flip condition. Notice that Rz trend shows flip at 180 Rz = 180 and a mirror image flip at Ry = 90. In this example, the Rz moves through multiple turns and has Rz flip points in addition to mirror flip points.
Page 133 Geometries with orientation support Chapter 4 This diagram uses the combined transform matrix of translation and rotation matrix around the Y axis. The following diagram uses the combined transform matrix of the translation matrix used with the translation vector of [5 0 3] and rotation matrix of -45 around Y axis.
Page 134: Define Coordinate System Frames
Chapter 4 Geometries with orientation support The point P is with respect to coordinate frame {B} with the translation vector 0f [-2.1171 0 .7071] and rotation matrix of -45 rotation. The point P is also specified in user format with X = -2.1171, Y = 0, Z = 0.7071, Rx = 0, Ry = 0, Rz = -45.
Page 135 Geometries with orientation support Chapter 4 • Base Frame - Located at the base of the robot (origin of the robot). End of Arm (EOA) and work frames are measured from the robot’s base frame. Refer to the robot geometry specific configuration manuals for establishing the base coordinate system frame.
Page 136 Chapter 4 Geometries with orientation support This diagram illustrates simple robot application setup for picking an object from the table using a gripper tool. Reference frames are established from the base frame of the robot for the user program. Boxes are placed on a table at known positions with respect to the table corner, and the table is at a known vector distance or offset from the robot.
Page 137: Work Frame Offsets
Geometries with orientation support Chapter 4 Work frame offsets The work frame offset is a set of (XYZRxRyRz) coordinate values that redefines the origin of the robot from the new work frame. X, Y, Z represents distance of a work frame from the robot’s base frame and Rx, Ry, and Rz represents rotations around those axes.
Page 138 Chapter 4 Geometries with orientation support • These two attributes of the coordinate system are available via GSV instructions as shown in the image below. For more information about Motion Instructions, see Logix 5000 Controllers Motion Instructions Reference Manual, publication MOTION-RM002. Restrictions In some robot geometries, for example Delta robots, due to mechanical constrains some of the work frame orientation offsets are restricted so that the robot cannot...
Page 139: Work Frame Examples
Geometries with orientation support Chapter 4 Assume that the target position (P) is measured as P1 (X = 120, Y = 100, Z = 0, Rx = 0, Ry = 0, Rz = 75 ) from the robot’s base frame. Now, with respect to a new work frame, target position (P) will change as P2 (X = 42.321, Y = 33.301, Z = 0, Rx = 0, Ry = 0, Rz = 45 ).
Page 140 Chapter 4 Geometries with orientation support This diagram illustrates multiple work frames for one robot base frame. The robot is picking six boxes from the Pallet 1 and the positions of all boxes are measured from the Pallet 1. The same pick and place program is used for the other pallets placed at different positions and orientations.
Page 141 Geometries with orientation support Chapter 4 Work Frames Work ID Work Frame Offsets Work Frame 3 -100 -800 Work Frame 4 -100 -800 Work frames with different robot positions It is acceptable to mount robots with different orientations, such as upside down and horizontal positions.
Page 142: Tool Frame Offsets
Chapter 4 Geometries with orientation support Tip: To use these Kinematic sample projects, on the Help menu, click Vendor Sample Projects and then click the Motion category. The Rockwell Automation sample project's default location is: c:\Users\Public\Public Documents\Studio 5000\Sample\ENU\v\Rockwell Automation See also Define coordinate system frames page 134 Work frame offsets...
Page 143 Geometries with orientation support Chapter 4 • ActiveToolFrameID and ActiveToolFrameOffset attributes reflect the information specified in the tool frame operand when the MCTO instruction activates. • When the MCTO instruction executes, Tool Frame ID and Tool Frame Offset members of the Tool Frame operand of the MCTO instruction are copied to the ActiveToolID, ActiveToolOffset members of the source coordinate system as specified in the MCTO instruction.
Page 144 Chapter 4 Geometries with orientation support This table shows the current restrictions on the tool frame offsets for different robot geometries supported by Logix Designer applications. Geometry Type Coordinate Tool Frame Offsets Definition Delta J1J2J6 Allowed Allowed Allowed Not Allowed Not Allowed Allowed J1J2J3J6...
Page 145: Tool Frame Example
Geometries with orientation support Chapter 4 End position from the Base Frame (P1): (X = 0, Y = 0, Z = -800, Rx = 180 , Ry = 0, Rz = 0) Tool Frame Offsets: (Tx =50, Ty = 0, Tz = 150, TRx = 0, TRy = 0, TRz = -90 ) End position with Tool Frame (P2): (X = 50, Y = 0, Z = -950, Rx = 180 , Ry = 0, Rz = 90 ) Refer to the manufacturer CAD drawings or datasheet to find relevant Tool Offset values for the tool.
Page 146 Chapter 4 Geometries with orientation support image. Individual tool frames are established through the tool frame offsets shown in the table below. In the application program, dynamically change the tool using the MCTO instruction, while tracking the conveyor positions using the MAG or MAPC instructions.
Page 147: Configure A Delta J1J2J6 Coordinate System
Geometries with orientation support Chapter 4 Work frame offsets page 137 Work frame examples page 139 Configure a Delta J1J2J6 This illustration shows a three-axis Delta robot that moves in three-dimensional Cartesian (X, Z, Rz) space. Coordinate System In Logix Designer application, the three-degrees of freedom for this robot are configured as Joint 1 (J1), Joint 2 (J2), and Joint 6 (J6) axes in the robot's coordinate system.
Page 148 Chapter 4 Geometries with orientation support When joints (J1, J2) are rotated, the arms connected to these joints move in the (X, Z) plane, the mechanical connections of the end plate via spherical joints to the end of second link (L2) ensure that the base and end plates remain parallel to each other.
Page 149: Establish The Reference Frame For A Delta J1J2J6 Robot
Geometries with orientation support Chapter 4 Establish the reference frame The reference frame is a Cartesian frame which is the base frame for the robot and all the target points are specified with respect to this base frame. The robot for a Delta J1J2J6 robot transformations are set up from base frame to end of arm frame to transform any Cartesian target positions in to joint space and vice versa.
Page 150: Calibrate A Delta J1J2J6 Robot
Chapter 4 Geometries with orientation support J6 axis of rotation is aligned with the Z axis of Base frame. • To set the home position for J6 axis, move the J6 axis so that the X axis of EOA is aligned with the top link of the arm, that is, the X axis of Base frame.
Page 151: Configuration Parameters For Delta J1J2J6 Robot
Geometries with orientation support Chapter 4 8. If the top link of arm (L1) is not in a horizontal position, configure the values for the Zero Angle Offsets on the Geometry tab in the Coordinate System Properties dialog box to be equal to the values of the joints when in a horizontal position.
Page 152: Base And Effector Plate Dimensions For Delta J1J2J6 Robot
Chapter 4 Geometries with orientation support • L1 - link attached to each actuated J1 and J2 • L2 - link attached to L1 on one end and the end plate at the other end Enter the link lengths on the Geometry tab in the Coordinate System Properties dialog box.
Page 153: Swing Arm Offsets For Delta J1J2J6 Robot
Geometries with orientation support Chapter 4 On the Offsets tab in the Coordinate System Properties dialog box, enter the base offset and effector plate offset for the 3-axis Delta robot. See also Configuration parameters for Delta J1J2J6 robot page 151 Swing Arm Offsets for Delta J1J2J6 robot page 153 Configure Zero Angle Orientation Delta J1J2J6 robot...
Page 154: Configuring Offset Variables In A Gsv/Ssv Instruction
Chapter 4 Geometries with orientation support Denavit - Hartenberg (DH) notation is used to configure the offset values. Use XYZ axis directions, shown in the image at end plate center point, as a reference frame to measure the offset values. As per DH convention, Offset values are positive or negative based on XYZ reference frames shown here.
Page 155: Configure Zero Angle Orientations For Delta J1J2J6 Robot
Geometries with orientation support Chapter 4 Parameter in Coordinate System dialog box Class name Attribute name Data type Swing Arm Offset: D3 CoordinateSystem EndEffectorOffset3 REAL See also Base and Effector Plate dimensions for Delta J1J2J6 robot page 152 Swing Arm Offsets for Delta J1J2J6 robot page 153 For Delta robot geometries, the internal transformation equations in the Logix Configure Zero Angle...
Page 156: Identify The Work Envelope For Delta J1J2J6 Robot
Chapter 4 Geometries with orientation support See also Configuration parameters for Delta J1J2J6 robot page 151 Link lengths page 151 Base and Effector Plate dimensions page 152 Swing Arm Offsets page 153 Identify the work envelope for For Delta robot geometries, the internal transformation equations in the Logix Designer application assume: Delta J1J2J6 robot •...
Page 157 Geometries with orientation support Chapter 4 Example of a two-dimensional Delta robot workspace For exact workspace region, refer to the documentation provided by the robot manufacturer. Program the robot within a rectangle (desired workspace) defined inside the robot’s work space. The rectangle is defined by the positive and negative dimensions of the X, Z virtual source axes.
Page 158: Maximum Joint Limit Condition For Delta J1J2J6 Robot
Chapter 4 Geometries with orientation support Base and Effector Plate dimension for Delta J1J2J6 robot page 152 Maximum joint limit condition Use these guidelines to determine the maximum joint limit conditions for the four-dimensional robot. for Delta J1J2J6 robot Maximum J1, J2 Positive joint limit condition The derivations for the maximum positive joint apply to the condition when L1 and L2 are collinear.
Page 159 Geometries with orientation support Chapter 4 Maximum Negative Joint Limit Condition R = absolute value of (Rb - Re) Maximum J6 joint limit condition The J6 axis is the rotational axis that could have multiple turns. The maximum number of turns supported is +/-127. Maximum positive and negative range is checked based on number of turns supported on J6.
Page 160: Work And Tool Frame Offset Limits For Delta J1J2J6 Robot
Chapter 4 Geometries with orientation support Configure the joint limits Refer to robot manufacturer's data sheet to compute the range of J1, J2, and J6 axes. These limits are set as a Soft Travel Limit on the Scaling tab in the Axis Properties dialog box.
Page 161: Configure A Delta J1J2J3J6 Coordinate System
Geometries with orientation support Chapter 4 programmed only in (X, Z, Rz). Note the following: • If there is a Y component (Translation on Y is not equal to 0), MCTO and MCTPO instructions error with Error code: 153 and Extended Error code: •...
Page 162: Establish The Reference Frame For A Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support As each axis (J1, J2, J3) is rotated, the end plate always moves in XYZ plane parallel to the base plate. The mechanical connections of the Link L2 via spherical joints ensure that the base and end plates remain parallel to each other. When each top link (L1) moves downward, its corresponding joint axis (J1, J2, or J3) is assumed to be rotating in the positive direction.
Page 163 Geometries with orientation support Chapter 4 Cartesian target positions in to joint space and vice versa. In order for the transformations to work correctly, it is required to establish the origins for all the axes in the joint space with respect to the robot base Cartesian frame. Top View Side View Establish the Base frame...
Page 164: Calibrate A Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support J6 axis of rotation is aligned with the Z axis of Base frame. • To set the home position for J6 axis, move the J6 axis so that the X axis of EOA is aligned with the top link (L1) of the arm (J1), that is, X axis of Base frame.
Page 165: Configuration Parameters For Delta J1J2J3J6 Robot
Geometries with orientation support Chapter 4 The same applies to the J6 axis. One revolution of the J6 axis should equal 360 . 5. Move all joints to the calibration position by jogging the robot under programmed control or manually moving the robot when the joint axes are in an open loop state.
Page 166: Link Lengths For Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support The configuration parameter information is available from the robot manufacturer. Important: Verify that the values for the Link Lengths, Base Offsets, and End-Effector Offsets are entered in the Coordinate System Properties dialog box using the same measurement units. See also Link Lengths for Delta J1J2J3J6 robot page 166...
Page 167: Base And Effector Plate Dimensions For Delta J1J2J3J6 Robot
Geometries with orientation support Chapter 4 See also Configuration parameters for Delta J1J2J3J6 robot page 165 Base and Effector Plate dimensions for Delta J1J2J3J6 robot page 167 Swing Arm offsets for Delta J1J2J3J6 robot page 168 Configure Zero Angle Orientation for Delta J1J2J3J6 robot page 170 Base and Effector Plate In a 4-axis Delta robot configuration, Base and End plate offsets are represented as...
Page 168: Swing Arm Offsets For Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support In the Offsets tab in the Coordinate System Properties dialog box, enter the base offset and effector plate offset for the 4-axis Delta robot. See also Configuration parameters for Delta J1J2J3J6 robot page 165 Swing Arm offsets for Delta J1J2J3J6 robot page 168 Configuring offset variables in a GSV/SSV instruction...
Page 169: Configuring Offset Variables In A Gsv/Ssv Instruction
Geometries with orientation support Chapter 4 Joint 6 axis is configured using Swing Arm Offset D3. Denavit - Hartenberg (DH) notation is used to configure these offset values in which joint offsets in Z direction is shown as D3. Offset values can be positive or negative. Tip: For Swing Arm Offsets, positive Z direction is pointing down at the End plate center point.
Page 170: Configure Zero Angle Orientations For Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support Parameter in Coordinate System dialog box Class name Attribute name Data type Base Plate dimension: Rb CoordinateSystem BaseOffset1 REAL Base Plate dimension: Re CoordinateSystem EndEffectorOffset1 REAL Swing Arm Offset: D3 CoordinateSystem EndEffectorOffset3 REAL See also Base and Effector Plate dimensions for Delta J1J2J3J6 robot page 167 Swing Arm Offsets for Delta J1J2J3J6 robot...
Page 171 Geometries with orientation support Chapter 4 Example of Zero Angle Orientation set up in 4-axis Delta robot See also Configuration parameters for Delta J1J2J3J6 robot page 165 Link Lengths for Delta J1J2J3J6 robot page 166 Base and Effector Plate dimensions for Delta J1J2J3J6 robot page 167 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 172: Identify The Work Envelope For Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support Swing Arm Offsets for Delta J1J2J3J6 robot page 168 Identify the work envelope for 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 Delta J1J2J3J6 robot 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.
Page 173 Geometries with orientation support Chapter 4 Maximum J1, J2, J3 positive joint limit condition The derivations for the maximum positive joint apply to the condition when L1 and L2 are collinear. Maximum Positive Joint Limit Position R = absolute value of (Rb - Re) Maximum J1, J2, J3 negative joint limit condition The derivations for the maximum negative joint limit apply to the condition when L1 and L2 are folded back on top of each other.
Page 174: Work And Tool Frame Offset Limits For Delta J1J2J3J6 Robot
Chapter 4 Geometries with orientation support Maximum J6 joint limit condition The J6 axis is the rotational axis that could have multiple turns. The maximum number of turns supported is +/-127. Maximum positive and negative range is checked based on number of turns supported on J6. Configure the joint limits Refer to robot manufacturer's data sheet to compute the range of J1, J2, J3, and J6 axes.
Page 175: Sample Project For Delta J1J2J3J6 Robot
Geometries with orientation support Chapter 4 through the ToolFrame parameter in the MCTO and MCTPO instructions. See also Identify the Work Envelope for Delta J1J2J3J6 robot page 172 Sample project for Delta To use the Kinematic sample project on configuring a Delta J1J2J3J6 Delta robot, on the Help menu, click Vendor Sample Projects and then click the Motion J1J2J3J6 robot category.
Page 176 Chapter 4 Geometries with orientation support This robot contains a fixed top plate (Base Plate) and a moving bottom plate (End Plate). The fixed top plate is attached to the moving bottom plate by three link-arm assemblies. All three of the link-arm assemblies are identical in that they each have a top link arm (L1) and bottom link arm (L2).
Page 177: Establish The Reference Frame For A Delta J1J2J3J4J5 Robot
Geometries with orientation support Chapter 4 Establish the reference frame The reference frame is a Cartesian frame which is the base frame for the robot and all the target points are specified with respect to this base frame. The robot for a Delta J1J2J3J4J5 robot transformations are set up from base frame to end of arm frame to transform any Cartesian target positions in to joint space and vice versa.
Page 178: Calibrate A Delta J1J2J3J4J5 Robot
Chapter 4 Geometries with orientation support At the EOA, X axis is in the same direction as Base frame X axis and the Z axis direction is pointing down towards the direction of Tool approach vector. Joint 4 axis of rotation is aligned with the Z axis of Base frame and Joint 5 axis of rotation is aligned with Y axis of Base Frame.
Page 179 Geometries with orientation support Chapter 4 To calibrate a Delta J1J2J3J4J5 robot: 1. Obtain the angle values from the robot manufacturer for J1, J2, J3, J4, and J5 at the calibration position. These values are used to establish the reference position. 2.
Page 180: Configuration Parameters For Delta J1J2J3J4J5 Robot
Chapter 4 Geometries with orientation support Tip: Since the robot axes are absolute, the reference positions may only need establishing once. If the reference positions are lost, for example, the controller changes, then reestablish the reference positions. See also Establish the reference frame for Delta J1J2J3J4J5 robot page 177 Configuration parameters for Configure the Logix Designer application to control robots with varying reach...
Page 181: Base And Effector Plate Dimensions For Delta J1J2J3J4J5 Robot
Geometries with orientation support Chapter 4 Enter the link lengths on the Geometry tab in the Coordinate System Properties dialog box. See also Configuration parameters for Delta J1J2J3J4J5 robot page 180 Base and Effector Plate dimensions for Delta J1J2J3J4J5 robot page 181 Swing Arm Offsets for Delta J1J2J3J4J5 robot page 182...
Page 182: Swing Arm Offsets For Delta J1J2J3J4J5 Robot
Chapter 4 Geometries with orientation support • Re - This offset represents the End plate offset value. Enter the value equal to the distance from the center of the moving end plate to the lower spherical joints of the parallel arms (L2). In the Offsets tab in the Coordinate System Properties dialog box, enter the base offset and effector plate offset for the 5-axis Delta robot.
Page 183 Geometries with orientation support Chapter 4 values. As per DH convention, Joint offsets in X direction are represented as A3 and A4, and Joint offsets in Z direction are shown as D3, D4, and D5. Offset values are positive or negative based on XYZ reference frames shown in the illustration.
Page 184 Chapter 4 Geometries with orientation support Example 1 The image shows one of the typical setups for a Swing Arm mechanism. Here Joint 4 and Joint 5 axes are not intersecting each other. Joint 4 axis is passing through the End plate center point. The table shows configuring offsets and Swing Arm Offset values: Configuring offsets Swing Arm offset value...
Page 185 Geometries with orientation support Chapter 4 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.
Page 186: Coupling Between J4 And J5 Axis
Chapter 4 Geometries with orientation support See also Coupling between J4 J5 axis page 186 Configuration parameters for Delta J1J2J3J4J5 robot page 180 Configure Zero Angle Orientations for Delta J1J2J3J4J5 robot page 188 Coupling between J4 and J5 axis Some five dimensional Delta robots have a mechanical coupling between the J4 and J5 axis.
Page 187 Geometries with orientation support Chapter 4 Configure the gear ratio as Coupling Ratio J4:J5 and gear direction as Coupling Direction on the Offsets tab in the Coordinate System Properties dialog box. Refer to manufacturer’s manual for coupling relationship between J4 and J5 axis. Tip: The Coupling attributes apply only to the Delta J1J2J3J4J5 robot.
Page 188: Configure Zero Angle Orientations For Delta J1J2J3J4J5 Robot
Chapter 4 Geometries with orientation support Coupling Ratio J4:J5 The parameter is only available when Coupling Direction is set to Same or Opposite. It includes a Swing Arm Coupling Ratio Numerator and a Swing Arm Coupling Ratio Denominator. The Numerator is the first value of the Coupling Ratio parameter. It represents J4 axis rotation as a reference for J5 axis move.
Page 189 Geometries with orientation support Chapter 4 If you want the Joint 5 axis position set as a 0 when D5 link is at horizontal in the Z5 parameter for position (shown in the image below), then enter -90 Joint 5. The Z4 offset can be used to set Joint 4 axis other than default 0 position.
Page 190: Identify The Work Envelope For Delta J1J2J3J4J5 Robot
Chapter 4 Geometries with orientation support Base and Effector Plate dimensions for Delta J1J2J3J4J5 robot page 181 Swing Arm Offsets for Delta J1J2J3J4J5 robot page 182 Identify the work envelope for The work envelope is the three-dimensional region of space that defines the reaching boundaries for the robot arm.
Page 191 Geometries with orientation support Chapter 4 Maximum J1, J2, J3 Positive joint limit condition The derivations for the maximum positive joint apply to the condition when L1 and L2 are collinear. Maximum Positive Joint Limit Position R = absolute value of (Rb - Re) Maximum J1, J2, J3 negative joint limit condition The derivations for the maximum negative joint limit apply to the condition when L1 and L2 are folded back on top of each other.
Page 192: Work And Tool Frame Offset Limits For Delta J1J2J3J4J5 Robot
Chapter 4 Geometries with orientation support Maximum J4 joint limit condition J4 axis is the rotational axis that could have multiple turns. The maximum number of turns supported is +/-127. Maximum positive and negative range is checked based on number of turns supported on J4. Maximum J5 joint limit condition The maximum positive and negative limit of J5 axis is restricted between -179 to +179...
Page 193: Example Of A Pick And Place Application For Delta J1J2J3J4J5 Robot
Geometries with orientation support Chapter 4 In the Delta robot, the End plate is always parallel to the Base plate and the 5-axis Delta robot can reach up to limited orientation positions. Work and Tool frame offset values are limited up to reachable work envelope. The following offset values are allowed for Work and Tool frames.
Page 194 Chapter 4 Geometries with orientation support Rz is -30 , then set the work frame offset as [-200,-100,-1000, 0, 0,-30] in the Motion Coordinated Transform with Orientation (MCTO) instruction. Configure the robot by entering the Link lengths, Base and Effector plate dimensions, and Swing Arm offsets in the Coordinate System Properties dialog box.
Page 195: Mcpm Mirror Image Orientation Axis Behavior
Geometries with orientation support Chapter 4 Position MCPM mirror image Many robot geometries supported in ControlLogix integrated kinematics transformations do not have enough degrees of freedom to support orientation orientation axis behavior motion in the Ry axis, to include SCARA J1J2J3J6 and the Delta J1J2J3J6. Some robot geometries, like the Delta J1J2J3J4J5, do support orientation moves in the Ry axis.
Page 196: Mirror Image Ry Orientation
Chapter 4 Geometries with orientation support Configure a Delta J1J2J3J4J5 coordinate system page 161 Mirror image Ry orientation Ry is limited to +/- 90 per Euler angle rules. Refer to Orientation Specification for information about XYZ Fixed angles and Euler Angles Representation. Mirror image refers to the way the Ry position trend looks with respect to +/- 90 .
Page 197: Rz Axis Position In Mirror Non-Flip And Mirror Flip Regions
Geometries with orientation support Chapter 4 This is shown graphically as follows. Important: Per Euler angle convention, -180.0 is equal to +180.0 and is also a valid Rx position in the mirror non-flip region. However, due to limitations imposed to support J4 turns counter, this value is not permitted for use in specifying Rx position.
Page 198: Example Of Mirror Image And Flip Behavior On Rx And Rz Axes
Chapter 4 Geometries with orientation support Example of mirror image and The following trend shows the Ry mirror image orientation and associated flip behavior on Rx and Rz axes. flip behavior on Rx and Rz axes The move that is demonstrated in the example is a pure Ry move from 45.0 the mirror non-flip region (Rx = 180.0 ) in a positive direction ending at 45.0 in the rollover region (Rx = 0 ).
Page 199: Use Mcpm To Program Ry Absolute Moves For Geometries With Mirror Image Position
Geometries with orientation support Chapter 4 See also Use MCPM to program Ry absolute moves for geometries with mirror image position page 199 Below is the side view of the Delta J1J2J3J4J5 arm. It illustrates Ry moves using Use MCPM to program Ry the absolute position to specify the end of the move.
Page 200: Configure And Program Turns Counters
Chapter 4 Geometries with orientation support Example Start Region End Region Notes Mirror flip Mirror flip Starting orientation [Rx=0, Ry=(-78), Rz=180] with MCPM move to orientation [Rx=0, Ry=78, Rz=180]. The resultant move takes the longest rotary path move to avoid travel through 0 in the Mirror flip region, or +204 on Ry (-204 for J5).
Page 201: Rockwell Automation Publication Motion-Um002F-En-P - February
Geometries with orientation support Chapter 4 The robots have geometrical configurations where typically the joint axes are not orthogonal. The geometrical configurations are specified by coordinate system type, such as Delta. The coordinate definition attribute further specifies how many joint axes in the Robot coordinate system, such as J1,J2,J3,J6. This diagram shows the details of a Delta J1J2J3J6 robot with the base Cartesian coordinate system and four joint axes, which form the non-Cartesian coordinate system.
Page 202 Chapter 4 Geometries with orientation support • For transformations to work correctly, be sure to establish the reference frame for the joint coordinate system first. For the Tips: Delta J1J2J3J6 and Delta J1J2J3J4J5 robots, the normal reference positions for J1, J2 and J3 axes are homed to 0 when the J1, J2 and J3 links are horizontal.
Page 203 Geometries with orientation support Chapter 4 J6 axis. When J6 crosses the 180 point in the CW direction, turns counter is incremented and Rz flips from -180 to 180 and when J6 goes past the 180 point in the CCW direction, turns counter is decremented and Rz flips from 180.0001 to -179.9999 .
Page 204 Chapter 4 Geometries with orientation support Table of Rz, turns counter and J6 values that are shown in the trends in figures above. Turns Counter of J6 (if zero angle offset = 0 ) and (if zero angle offset = 0 ) (if zero angle offset = 90 ) and (Rz work Offset = 0 ) and (Rz work offset = 80 )
Page 205: Program Example For Turns Counter
Geometries with orientation support Chapter 4 Turns Counter of J6 (if zero angle offset = 0 ) and (if zero angle offset = 0 ) (if zero angle offset = 90 ) and (Rz work Offset = 0 ) and (Rz work offset = 80 ) (work Offset = 0 ) +179.9999 180.0001...
Page 206 Chapter 4 Geometries with orientation support Tip: The Joint Cartesian coordinate system described here is not intended for use as the Cartesian coordinate system operand of the MCTO instruction. Align Cartesian and Robot Coordinate systems The following ladder logic illustrates moving the robot coordinate system to an initial position before enabling the transformation.
Page 207 Geometries with orientation support Chapter 4 Initiate Transform instructions This ladder logic illustrates enabling the transform instruction between the source Cartesian coordinate system and target 5 axis Delta robot system. Move the source side to the desired target positions using MCPM path data with turns counter specifications Refer to this ladder logic to command the robot to move to a target point in the Cartesian space specified by an element of an array of PATH_DATA points.
Page 208 Chapter 4 Geometries with orientation support Program the MCPM target points as absolute move - MoveType = 0 The target position and orientation of any point defined has six coordinates XYZRxRyRz. The translation coordinates are the coordinates of target point with respect to the base coordinate systems.
Page 209 Geometries with orientation support Chapter 4 The target specification typically has Rx = 180 , Ry = 0 and Rz equal to desired orientation. The Rz rotations have a range of +180 to -179.9999 as shown in this diagram that illustrates the top view from Z positive axis looking at the origin. The orientation for any target point can be fully specified by Rx = 180 , Ry = 0 and Rz orientation in the range of +180 to -179.9999 .
Page 210 Chapter 4 Geometries with orientation support Tip: Turns counters are only valid if MCTO is enabled on the Cartesian coordinate system. MCPM with nonzero turns counter will error if the MCTO is not enabled on the Cartesian coordinate system. For programming the multi-turn axis, such as J6 for Delta J1J2J3J6, specify the shortest or longest path for J6 axis by specifying the Rz position and turns counter.
Page 211 Geometries with orientation support Chapter 4 The trends and tables show the complete specification of Cartesian target point for joint angles in the span of J6 travel. These PATH_DATA points show typical target point specification for the MCPM instructions for the rung input in an excel spreadsheet for Delta J1J2J3J6 as absolute move with turns counter.
Page 212 Chapter 4 Geometries with orientation support Teach positions for PATH_DATA target points for MCPM instructions using Coordinate System turns counter data This section explains entering target points for turns counter. The system has turns counter template attributes for coordinate systems tag which keep track of turns counter once the MCTO is enabled on the coordinate system.
Page 213 Geometries with orientation support Chapter 4 Tip: To use this Kinematic sample projects, on the Help menu, click Vendor Sample Projects and then click the Motion category. The Rockwell Automation sample project's default location is: c:\Users\Public\Public Documents\Studio 5000\Sample\ENU\v\Rockwell Automation See also Configure and program turns counters page 200 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018...
Page 215: Configure Camming Camming Concepts
Chapter 5 Configure Camming This information describes camming concepts. Use the motion coordinated instructions to move up to three axes in a coordinate system. Descriptions of these instructions are in the Logix 5000 Controllers Motion Instructions Reference Manual, publication MOTION-RM002. See also Caming concepts page 215...
Page 216: Electronic Camming
Chapter 5 Configure Camming • There is a physical connection between the cam and the follower. • The follower conforms to the cam shape as the cam unit rotates. • Motion is limited by the cam shape. The following illustrates a mechanical cam turning in a clockwise manner and the affect it has on a follower that is physically connected to it.
Page 217: Position Cam Profile
Configure Camming Chapter 5 Time Cam Profile page 218 Position Cam Profile Position-lock cams provide the capability of implementing non-linear electronic gearing relationships between two axes based on a Cam Profile. Upon execution of this instruction, the axis specified as the slave is synchronized with the axis designated as the master.
Page 218: Time Cam Profile
Chapter 5 Configure Camming Time Cam Profile A time cam profile functions similarly to a cam drum driven by a constant speed motor. A time cam profile is also defined by using a table of points. However, with the time cam profile, the table contains the following information: •...
Page 219: Use Common Cam Profiles
Configure Camming Chapter 5 Use Common Cam Profiles There are four common cam profiles that can be used as position cam or time cam profiles: • Acceleration Cam Profile • Run Cam Profile • Deceleration Cam Profile • Dwell Cam Profile Cam profiles are configured for each required slave axis change of position, as corresponds to specific master axis position or time positions.
Page 220: Run Cam Profile
Chapter 5 Configure Camming See also Use Common Cam Profiles page 219 Run Cam Profile A run cam profile determines a slave axis’ movement that begins when the master axis reaches a specific position and remains steady until the end of the cam profile. This graphic illustrates a sample run cam profile in the Logix Designer programming software Cam Editor.
Page 221: Dwell Cam Profile
Configure Camming Chapter 5 See also Use Common Cam Profiles page 219 A dwell cam profile stops all slave axis movement until another cam profile begins Dwell Cam Profile operation. Typically, a dwell cam profile follows a deceleration cam profile. This graphic illustrates a sample dwell cam profile in the Logix Designer programming software cam editor.
Page 222: Behavior Of Pending Cams
Chapter 5 Configure Camming See also Use Common Cam Profiles page 219 If you want to run one profile and then pend another one, you need to execute the Behavior of Pending Cams MAPC instructions in the right order. For example, if you want to run only one slave cycle, start with the Accel_Profile and pend the Decel_Profile immediately, that results in 2 x 1/2 Cycle = 1 Cycle.
Page 223: Scaling Cams
Configure Camming Chapter 5 Execution Schedule: Immediate Execution Schedule: Pending See also Use Common Cam Profiles page 219 Scaling cams You can use the scaling feature to determine the general form of the motion profile with a single stored cam profile. With this feature, one standard cam profile can be used to generate a family of specific cam profiles.
Page 224: Scaling Time Cam Profiles
Chapter 5 Configure Camming When an MAPC instruction specifies a position cam profile array, the master and slave values defined by the cam profile array take on the position units of the master and slave axes respectively. By contrast, the Master and Slave Scaling parameters are ‘unit-less’...
Page 225: Cam Execution Modes
Configure Camming Chapter 5 By default, both the Time and Distance Scaling parameters are set to 1. To scale a time cam profile, enter a Time Scaling or Distance Scaling value other than 1. If you increase the Time Scaling value of a time cam profile, it decreases the velocities and accelerations of the profile.
Page 226: Execution Schedule
Chapter 5 Configure Camming Execution Mode Description Once started, the cam profile is executed indefinitely. In this mode, the master and slave Continuous positions are unwound when the position of the master axis moves outside the profile range. This unwinding causes the cam profile to repeat. This feature is useful in rotary applications where it is necessary that the cam position runs continuously in a rotary or reciprocating fashion.
Page 227 Configure Camming Chapter 5 Master Lock Position parameter is irrelevant. The slave axis is immediately locked to the master axis, which begins at the Cam Lock Position of the specific cam profile. When the MAPC instruction is executed, the camming process is initiated on the specified slave axis.
Page 228 Chapter 5 Configure Camming The following diagram shows the effect of specifying a Cam Lock Position value other than the starting point of the cam table. In this case, the value represents a position within the cam profile itself. Be careful not to define a Cam Start Point that results in a velocity or acceleration discontinuity to the slave axis if the master axis is moving.
Page 229 Configure Camming Chapter 5 Important: The cam profile generator monitors the master axis based on the absolute position reference system in effect before the redefine position operation. This process only occurs if the position reference of the master axis is redefined with a Motion Redefine Position (MRP) instruction after the MAPC instruction executes but before the lock condition is satisfied.
Page 230: Execution Schedule For The Matc Instruction
Chapter 5 Configure Camming See also Execution Schedule page 226 Execution Schedule for the An MATC instruction uses one of two Execution Schedule parameters: MATC Instruction • Immediate • Pending Immediate Since the default setting of Execution Schedule is Immediate, the MATC instruction executes immediately.
Page 231: Pending Cams
Configure Camming Chapter 5 Pending Cams Cam pending is a technique that lets the blending of one cam profile together with another without stopping either master or slave axis movement. An Execution Schedule selection of Pending can thus be used to blend two position cam profiles together without stopping motion.
Page 232 Chapter 5 Configure Camming discontinuities can exist between the end of the current profile and the start of the new one. This process is done by using the Logix Designer Cam Profile Editor. Once a pending position cam instruction has been executed, the new cam profile takes effect automatically (and becomes the current profile).
Page 233: Index
Index program with no orientation 46 program with orientation 49 Cartesian Gantry 115 Arm Solution configuration parameters 115 definition of establish reference frame 115 configure 87 identify the work envelope 115 Articulated Dependent 79 Cartesian H-bot 116 base offsets 85 configuration parameters 117 define configuration parameters 83 establish reference frame 117...
Page 234 Index work envelope 195 establish the reference frame 101 zero angle orientations 193 link lengths 104 Delta J1J2J3J6 166 work envelope 102 base and effector plate dimensions 172 Determine coordinate system type 38 calibrate 169 configuration parameters 170 establish a reference frame 167 electronic camming 222 link lengths 171 execution schedule 232...
Page 235 Index Motion Axis Time Cam (MATC) 223, 229, 231, 236, 237 SCARA Delta 106 Motion Calculate Transform Position (MCTP) 46 base offset 109 Motion Calculate Transform Position with Orientation (MCTPO) 49, 140, configuation parameters 109 146, 166, 210 end effector offset 109 Motion Coordinated Circular Move (MCTO) 49, 140, 143, 146, 149, 205 establish the reference frame 107 Motion Coordinated Path Move (MCPM) 49, 51, 53, 198, 200, 204, 210...
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This manual is also suitable for:

1756-m03se 1756-m16se 1756-m02as 1756-m02ae 1768-m04se 1756-m08se

Allen-Bradley 1756-HYD02 User Manual

Preface

Create and Configure a Coordinate System

Chapter 1

Chapter 2

Cartesian Coordinate System

Chapter 3 Configure an Articulated Independent Robot

Chapter 4 Cartesian Coordinate Frame

Chapter 5 Camming Concepts ................................................................................................................

Configure Camming Camming Concepts

Index

Quick Links

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Summary of Contents for Allen-Bradley 1756-HYD02