Allen-Bradley 1756-M02AS User Manual
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Allen-Bradley 1756-M02AS User Manual

Motion coordinate system
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Original Instructions
Motion Coordinate System
Catalog Numbers 1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756-M08SE, 1756-M16SE, 1768-M04SE

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Summary of Contents for Allen-Bradley 1756-M02AS

  • Page 1 User Manual Original Instructions Motion Coordinate System Catalog Numbers 1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756-M08SE, 1756-M16SE, 1768-M04SE...
  • Page 2 Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

  • Page 3: Table Of Contents

    Table of Contents Summary of Changes ..........7 Preface .
  • Page 4 Table of Contents Gather Information about Your Robot......48 Summary of Kinematic Steps ........48 Determine the Coordinate System Type .
  • Page 5 Table of Contents Left-Arm and Right-Arm Solutions for Two-Axes Robots ......... 81 Solution Mirroring for Three-dimensional Robots .
  • Page 6 Table of Contents Chapter 8 Configure Camming Camming Concepts ......... . 107 Mechanical Camming.

  • Page 7: Summary Of Changes

    Summary of Changes This manual contains new and updated information as indicated in the following table. Topic Page Moved the Motion Coordinated Instruction Appendix to (MCLM, MCCM, MCCD, — MCS, MCSD, MCT, MCTP, MCSR, MDCC) MOTION-RM002 Move the Coordinate System Attributes Appendix to Online Help —...
  • Page 8 Summary of Changes Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 9: Preface

    Preface Motion Coordinate This manual provides information on how to configure various coordinated motion applications. Appendix A provides detailed information about the Instructions coordinated motion instructions. See the Additional Resources section for information configuration and startup of Sercos and analog motion or Integrated Motion on EtherNet/IP networks.

  • Page 10: Additional Resources

    Preface The default location of the Rockwell Automation sample project is: C:\Users\Public\Documents\Studio 5000\Samples\ENU\ There is a PDF file that is named Vendor Sample Projects on the Start Page that explains how to work with the sample projects. Free sample code is available at: http://samplecode.rockwellautomation.com/.
  • Page 11 Preface You can view or download publications at http://www.rockwellautomation.com/literature/. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...
  • Page 12 Preface Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 13: Coordinate System Coordinate System Wizard Dialog Boxes

    Chapter Create and Configure a Coordinate System Topic Page Create a Coordinate System Coordinate System Wizard Dialog Boxes Edit Coordinate System Properties In the Studio 5000 Logix Designer® application, you use the Coordinate System tag to configure a coordinate system. A coordinate system is a grouping of one or more primary and ancillary axes that you create to generate coordinated motion.

  • Page 14: Create A Coordinate System

    Chapter 1 Create and Configure a Coordinate System Figure 2 - Coordinate Systems with Non- orthogonal Axes Articulated Dependent Coordinate System Articulated Independent Coordinate System SCARA Independent Coordinate System SCARA Delta Coordinate System Delta Three-dimensional Coordinate System Delta Two-dimensional Coordinate System Use the Coordinate System tag to set the attribute values that the Multi-Axis Create a Coordinate System Coordinated Motion instructions use in your motion applications.
  • Page 15 Create and Configure a Coordinate System Chapter 1 Follow these steps to create a coordinate system. 1. Right-click the motion group in the Controller Organizer. 2. Choose New Coordinate System. The New Tag dialog box appears. Use the parameter descriptions in Table 1 to help you configure your new tag.
  • Page 16 Chapter 1 Create and Configure a Coordinate System Table 1 - Tag Parameter Descriptions Parameter Connection Description Name Type a relevant name for the new tag. The name can be up to 40 characters and can be composed of letters, numbers, or underscores (_).

  • Page 17: Coordinate System Wizard Dialog Boxes

    Create and Configure a Coordinate System Chapter 1 Coordinate System Wizard The Coordinate System Wizard takes you through the Coordinate System Properties dialog boxes. It is not necessary to use the Wizard dialogs to Dialog Boxes configure your coordinate system. Once it has been created, you can access the Coordinate System Properties dialog box by choosing Properties of the menu.

  • Page 18: Edit Coordinate System Properties

    Chapter 1 Create and Configure a Coordinate System Edit Coordinate System Create your Coordinate System in the New Tag dialog box, and then configure it. You can make your configuration selections from the Coordinate System Properties Properties dialog box. You can also use the Coordinate System Properties dialog boxes to edit an existing Coordinate System tag.

  • Page 19: General Tab

    Create and Configure a Coordinate System Chapter 1 General Tab Use this tab to do the following for a coordinate system: • Assign the coordinate system, or terminate the assignment of a coordinate system, to a Motion Group. • Choose the type of coordinate system you are configuring. •...
  • Page 20 Chapter 1 Create and Configure a Coordinate System Table 3 - General Tab Field Descriptions Item Description Axis Name The Axis Name column is a list of combo boxes (the Dimension field determines this number) used to assign axes to the coordinate system. The pull-down lists display all Base Tag axes defined in the project.

  • Page 21: Geometry Tab

    Create and Configure a Coordinate System Chapter 1 Geometry Tab The Geometry tab of the Coordinate System Properties is where you can specify the link lengths and zero angle orientation values for articulated robotic arms. The graphic that is displayed on this tab shows a typical representation of the type of coordinate system you selected on the General tab.

  • Page 22: Units Tab

    Chapter 1 Create and Configure a Coordinate System The number of fields available for configuration in the link lengths box is determined by the combination of the following: • Values that are entered on the General tab for the type of coordinate system •...

  • Page 23: Offsets Tab

    Create and Configure a Coordinate System Chapter 1 Axis Grid The Axis Grid of the Units dialog box displays the axis names that are associated with the coordinate system, the conversion ratio, and the units that are used to measure the conversion ratio. Table 4 - Units Tab Description Item Description...

  • Page 24: Joints Tab

    Chapter 1 Create and Configure a Coordinate System When specifying the end effector and base offset values, be sure that the values are calculated by using the same measurement units as the linked Cartesian coordinate system. For example, the manufacturer specifies the robot offset by using millimeter units and you want to configure the robot by using inches.

  • Page 25: Dynamics Tab

    Create and Configure a Coordinate System Chapter 1 If you are configuring a Cartesian coordinate system, go to the Dynamics tab to access the Coordinate System Properties Dynamics dialog box. Dynamics Tab The Dynamics dialog box is accessible only if you are configuring a Cartesian coordinate system.
  • Page 26 Chapter 1 Create and Configure a Coordinate System Table 6 - Dynamics Tab Field Descriptions Item Description Maximum Speed Enter the value for Maximum Speed to be used by the Coordinated Motion instructions in calculating vector speed when speed is expressed as a percent of maximum.

  • Page 27: Dynamics Tab Manual Adjust

    Create and Configure a Coordinate System Chapter 1 Position Tolerance Box In the Position Tolerance Box, values are entered for Actual and Command Position Tolerance values. See the Logix5000™ Motion Controllers Instructions Reference Manual, publication MOTION-RM002, for more information regarding the use of Actual and Command Position Tolerance. Item Description Actual...

  • Page 28: Motion Planner Tab

    Chapter 1 Create and Configure a Coordinate System Motion Planner Tab The Motion Planner dialog box is accessible only if you are configuring a Cartesian coordinate system. The Motion Planner tab is used to enable or disable Master Delay Compensation, enable or disable Master Position Filter, and to enter the bandwidth for Master Position Filter.

  • Page 29: Tag Tab

    Create and Configure a Coordinate System Chapter 1 Tag Tab The Tag tab is for reviewing your Tag information and renaming the tag or editing the description. Use this tab to modify the name and description of the coordinate system. When you are online, all parameters on this tab transition to a read-only state, and cannot be modified.
  • Page 30 Chapter 1 Create and Configure a Coordinate System Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...
  • Page 31 Chapter Configure a Cartesian Coordinate System Topic Page Program an MCLM Instruction Blended Moves and Termination Types Bit State Diagrams for Blended Moves Choose a Termination Type Use the multi-axis coordinated motion instructions to perform linear and circular moves in single and multidimensional spaces. A Cartesian coordinate system in Logix Designer application can include one, two, or three axes.

  • Page 32: Program An Mclm Instruction

    Chapter 2 Configure a Cartesian Coordinate System Program an MCLM The following are the steps to program and test an MCLM instruction. Instruction 1. Configure motion axes in Logix Designer application. The maximum number of axes that can be associated with one Coordinate System is limited to three axes.

  • Page 33: Example Ladder Diagram For Blended Instructions

    Configure a Cartesian Coordinate System Chapter 2 The MCLM and MCCM instructions reference a coordinate system called Coordinate_System_1 (cs1). For example, the following ladder diagram uses coordinate system cs1 to blend Move1 into Move2. Example Ladder Diagram for Blended Instructions If Step = 1, then: Move1 starts and moves the axes to a position of 5, 0.
  • Page 34 Chapter 2 Configure a Cartesian Coordinate System And once Move2 is in process and there is room in the queue: 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.

  • Page 35: Bit State Diagrams For Blended Moves

    Configure a Cartesian Coordinate System Chapter 2 Bit State Diagrams for The following diagrams show bit states at the transition points for various types of blended moves. Blended Moves Bit States at Transition Points of Blended Move by Using Actual Tolerance or No Settle linear ➞...

  • Page 36: By Using No Decel

    Chapter 2 Configure a Cartesian Coordinate System Bit States at Transition Points of Blended Move by Using No Decel linear ➞ linear move Table 11 shows the bit status at the various transition points shown in the preceding graph with termination type of No Decel. For No Decel termination type, distance-to-go for transition point TP2 is equal to deceleration distance for the Move1 instruction.

  • Page 37: Bit States At Transition Points Of Blended Move By Using Command Tolerance

    Configure a Cartesian Coordinate System Chapter 2 Bit States at Transition Points of Blended Move by Using Command Tolerance linear ➞ linear move Table 12 shows the bit status at the various transition points shown in the preceding graph with termination type of Command Tolerance. For Command Tolerance termination type distance-to-go for transition point TP2 is equal to Command Tolerance for the coordinate system cs1.

  • Page 38: Bit States At Transition Points Of Blended Move By Using Follow Contour Velocity Constrained Or Unconstrained

    Chapter 2 Configure a Cartesian Coordinate System Bit States at Transition Points of Blended Move by Using Follow Contour Velocity Constrained or Unconstrained linear ➞ circular move X axis Table 13 shows the bits status at the transition points. Table 13 - Bit Status with Contour Velocity Constrained or Unconstrained Termination Type Move1.DN Move1.IP Move1.AC...

  • Page 39: Choose A Termination Type

    Configure a 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. 1.
  • Page 40 Chapter 2 Configure a Cartesian Coordinate System 2. Make sure this selection is the right choice for you. Termination Type Example Path Description 0 - Actual Tolerance The instruction stays active until both of these events occur: Move 1 • Command position equals target position. •...

  • Page 41: Velocity Profiles For Collinear Moves

    Configure a Cartesian Coordinate System Chapter 2 Termination Type Example Path Description 4 - Follow Contour Velocity The instruction stays active until the axes get to the target position. At that point, Move 1 Move 2 Constrained the instruction is complete and a queued MCLM or MCCM instruction can start. •...
  • Page 42 Chapter 2 Configure a Cartesian Coordinate System Figure 4 - 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 .PC bit is set, MCLM1 is over Command Tolerance Point MCLM2 MCLM1...

  • Page 43: Symmetric Profiles

    Configure a Cartesian Coordinate System Chapter 2 Figure 6 - 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 Decel Point MCLM1 The .PC Bit is set, MCLM1 is over MCLM2 Position...
  • Page 44 Chapter 2 Configure a Cartesian Coordinate System Figure 8 - Example of a Symmetric Profile • MCLM 2 (point B to point C) follows MCLM 1 (point A to point B). • MCLM 4 (point B to point A) follows MCLM 3 (point C to point B). •...

  • Page 45: Triangular Velocity Profile

    Configure a Cartesian Coordinate System Chapter 2 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 can prevent you from getting to the speed you want.

  • Page 46: Blending Moves At Different Speeds

    Chapter 2 Configure a Cartesian Coordinate System Blending Moves at Different Speeds You can blend MCLM and MCCM instructions where the vector speed of the second instruction differs from the vector speed of the first instruction. If the Next Move is And the Termination Type of the First Move is Then Slower...

  • Page 47: Motion Calculate Transform Position (Mctp)

    Chapter Configure Kinematics Coordinate Systems Topic Page Useful Terms Gather Information about Your Robot Summary of Kinematic Steps Determine the Coordinate System Type This chapter provides you with the information you need when using the Kinematics functionality within Logix Designer application. This chapter also provides you with guidelines for robot-specific applications.

  • Page 48: Useful Terms

    Chapter 3 Configure Kinematics Coordinate Systems Useful Terms Understanding the terms used in this chapter enables you to properly configure your robot. Term Definition Forward Kinematics The solution of source positions given the target positions. In practice, requires computing the Cartesian positions given the Joint positions. Forward Transform The solution of source positions given target positions.
  • Page 49 Configure Kinematics Coordinate Systems Chapter 3 1. Determine and then configure the type of coordinate system you need for your robot. For help in determining your coordinate system type, see page 2. Establish the Joint-to-Cartesian reference frame relationship. For more information regarding the joint-to-Cartesian reference frame, see the section about the type of robot you are using.

  • Page 50: Determine The Coordinate System Type

    Chapter 3 Configure Kinematics Coordinate Systems parameters (link lengths, base offsets, and end-effector offsets) are configured and the MCT instruction is enabled. For additional information about the MCT or MCTP instructions, see the Logix5000™ Controllers Motion Instructions, publication MOTION-RM002. For detailed steps about Creating and Configuring a Coordinate System, see on Create and Configure a Coordinate System page 13.
  • Page 51 Configure Kinematics Coordinate Systems Chapter 3 If your robot looks similar to Your Coordinate System type is Cartesian This illustration shows a typical H-bot. Sliding Member For configuration information see page 103. Axis Axis Sliding rail Stationary Rails Stationary Motors A Stationary Motors B SCARA Independent For configuration information, see page 84.
  • Page 52 Chapter 3 Configure Kinematics Coordinate Systems If your robot looks similar to Your Coordinate System type is Three-dimensional Delta For configuration information, see page 62. Two-dimensional Delta For configuration information, see page 71. SCARA Delta For configuration information, see page 76. Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 53: Reference Frame

    Chapter Configure an Articulated Independent Robot Topic Page Reference Frame Methods to Establish a Reference Frame Work Envelope Configuration Parameters Delta Robot Geometries Configure a Delta Three-dimensional Robot Configure a Delta Two-dimensional Robot Configure a SCARA Delta Robot Arm Solutions Configure a SCARA Independent Robot Error Conditions Use these guidelines when configuring an Articulated Independent robot.
  • Page 54 Chapter 4 Configure an Articulated Independent Robot Figure 9 - Articulated Independent 1 Before you begin establishing the Joint-to-Cartesian reference frame relationship, it is important to know some information about the Kinematic mathematical equations used in the controllers. The equations were written as if the Articulated Independent robot joints were positioned as shown in Figure •...

  • Page 55: Independent Robot

    Configure an Articulated Independent Robot Chapter 4 When your robot is physically in this position, the Logix Designer application Actual Position tags for the axes must be: • J1 = 0 • J2 = 90° • J3 = -90° Figure 11 - Articulated Independent 3 Side View If your robot’s physical position and joint angle values cannot match those shown in either figures above, then use one of the Alternate Methods for...

  • Page 56: Method 1 - Establishing A Reference Frame

    Chapter 4 Configure an Articulated Independent Robot Method 1 - Establishing a Reference Frame 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.

  • Page 57: Method 2 - Establishing A Reference Frame

    Configure an Articulated Independent Robot Chapter 4 Method 2 - Establishing a Reference Frame Position the robot so that: • Link1 is parallel to the X3 axis. • Link2 is parallel to X1 axis. Program a MRP instruction for all three axes with the following values: •...
  • Page 58 Chapter 4 Configure an Articulated Independent Robot If the range-of-motion values for the articulated Typically, the work envelope is robot are J1 = ± 170 J2 = 0 to 180 J3 = ± 100 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 ...

  • Page 59: Configuration Parameters

    Configure an Articulated Independent Robot Chapter 4 Configuration Parameters Logix Designer application can be configured for control of robots with varying reach and payload capacities. As a result, it is very important to know the configuration parameter values for your robot including: •...

  • Page 60: Link Lengths

    Chapter 4 Configure an Articulated Independent Robot Link Lengths Link lengths are the rigid mechanical bodies attached at joints. For an articulated independent robot with The length Is equal to the value of the distance between 2 dimensions J1 and J2 J2 and the end-effector 3 dimensions J2 and J3...

  • Page 61: Base Offsets

    Configure an Articulated Independent Robot Chapter 4 Base Offsets The base offset is a set of coordinate values that redefines the origin of the robot. The correct base offset values are typically available from the robot manufacturer. Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog.

  • Page 62: End-Effector Offsets

    Chapter 4 Configure an Articulated Independent Robot End-effector Offsets The robot can have an end-effector attached to the end of robot link L2. If there is an attached end-effector, then you must configure the end-effector offset value on the Coordinate System Properties dialog. The end-effector offsets are defined with respect to the tool reference frame at the tool tip.
  • Page 63 Configure an Articulated Independent Robot Chapter 4 Figure 17 - Delta Three-dimensional Robot Baseplate Actuator for axis 4 Forearm assembly Actuators for axes 1 - 3. Gripper The Delta robot in Figure 17 is a three-degree of freedom robot with an optional fourth degree of freedom used to rotate a part at the tool tip.

  • Page 64: Establish The Reference Frame For A Delta Three-Dimensional Robot

    Chapter 4 Configure an Articulated Independent Robot Establish the Reference Frame for a Delta Three-dimensional Robot Top View The reference frame for the Delta geometries is at the center of the top fixed plate. Joint 1, Joint 2, and Joint 3 are actuated joints. If you configure the Delta coordinate system in Logix Designer application with the joints homed at 0...

  • Page 65: Three-Dimensional Robot

    Configure an Articulated Independent Robot Chapter 4 Alternate Method for Calibrating a Delta Three-dimensional Robot Rotate each joint to a position so that the respective link is at a horizontal position, and then perform one of the following: • Use a MRP instruction to set all the joint angles to 0° at this position. •...
  • Page 66 Chapter 4 Configure an Articulated Independent Robot Figure 19 - Configuring Delta Robot Zero Angle Orientation Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 67: Three-Dimensional Robot

    Configure an Articulated Independent Robot Chapter 4 Identify the Work Envelope for a Delta Three-dimensional Robot 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 robot can be described as looking similar to plane in the upper region, with sides similar to a hexagonal prism and the lower portion similar to a sphere.
  • Page 68 Chapter 4 Configure an Articulated Independent Robot Homing or moving a joint axis to a position beyond a computed joint limit and then invoking a MCT instruction, results in an error 67 (Invalid Transform position). For more information regarding error codes, see the Logix5000™ Controllers Motion Instructions Reference Manual, publication MOTION-RM002.

  • Page 69: Define Configuration Parameters For A Delta

    Configure an Articulated Independent Robot Chapter 4 Maximum Negative Joint Limit Condition The derivations for the maximum negative joint limit applies to the condition when L1 and L2 are folded back on top of each other. R is computed by using the base and end-effector offsets values (X1b and X1e). Figure 22 - Maximum Negative Joint Limit Condition - L1 and L2 are Folded Back on Top of Each Other Maximum Negative Joint Limit Condition...
  • Page 70 Chapter 4 Configure an Articulated Independent Robot Link Lengths Link lengths are the rigid mechanical bodies attached at the rotational joints. The three-dimensional Delta robot geometry has three link pairs each made up of L1 and L2. Each of the link pairs has the same dimensions. •...

  • Page 71: Configure A Delta Two-Dimensional Robot

    Configure an Articulated Independent Robot Chapter 4 End-effector Offsets The two end-effector offsets available for the three-dimensional Delta robot geometry are as follows. Offset values are always positive numbers. • X1e is the distance from the center of the moving plate to the lower spherical joints of the parallel arms.

  • Page 72: Establish The Reference Frame For A Delta Two-Dimensional Robot

    Chapter 4 Configure an Articulated Independent Robot This robot has two rotary joints that move the gripper in the (X1, X2) plane. Two forearm assemblies attach a fixed top plate to a movable bottom plate. A gripper is attached to the movable bottom plate. The bottom plate is always orthogonal to the X2 axis and its position is translated in Cartesian space (X1, X2) by mechanical parallelograms in each forearm assembly.

  • Page 73: Calibrate A Delta Two-Dimensional Robot

    Configure an Articulated Independent Robot Chapter 4 Figure 26 - Establishing the Two-dimensional Delta Robot Reference Frame Calibrate a Delta Two-dimensional Robot The method used to calibrate a Delta two-dimensional robot is the same as the method used for calibrating a Delta three-dimensional robot. The only difference is the number of axes used.

  • Page 74: Define Configuration Parameters For A Delta

    Chapter 4 Configure an Articulated Independent Robot position does not go outside the rectangle. You can check the position in the event task. To avoid problems with singularity positions, Logix Designer application 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 of the...
  • Page 75 Configure an Articulated Independent Robot Chapter 4 Link Lengths Links are the rigid mechanical bodies attached at joints. The two- dimensional Delta geometry has two link pairs, each with the same lengths. The link attached to each actuated joint ( J1 and J2) is L1. The parallel bar assembly attached to link L1 is link L2.

  • Page 76: Configure A Scara Delta Robot

    Chapter 4 Configure an Articulated Independent Robot End-effector Offsets There are two end-effector offsets available for the two-dimensional Delta robot geometry. The value for X1e is the offset distance from the center of the lower plate to the lower spherical joints of the parallel arms. The distance from the lower plate to the TCP of the gripper is the value for X2e.

  • Page 77: Calibrate A Scara Delta Robot

    Configure an Articulated Independent Robot Chapter 4 When the right-hand link L1 moves in the clockwise direction (looking down on the robot), joint J1 is assumed to be rotating in the positive direction. When the right-hand link L1 moves counterclockwise, joint J1 is assumed to be moving in the negative direction.

  • Page 78: Scara Delta Robot

    Chapter 4 Configure an Articulated Independent Robot Identify the Work Envelope for a SCARA Delta Robot The work envelope for a SCARA Delta robot is similar to the two- dimensional Delta robot in the X1-X2 plane. The third linear axis extends the work region making it a solid region.
  • Page 79 Configure an Articulated Independent Robot Chapter 4 Link Lengths Links are the rigid mechanical bodies attached at joints. The SCARA Delta robot has two link pairs each with the same lengths. The link attached to each actuated joint ( J1 and J2) is L1. The parallel bar assembly attached to link L1 is link L2.

  • Page 80: Negative X1B Offset

    Chapter 4 Configure an Articulated Independent Robot Configure a Delta Robot with a Negative X1b Offset Beginning with version 17 of the application, you can use negative offsets for the X1b base offset on both 2D and 3D delta geometries. For example, a mechanical 2D delta robot that uses a negative X1b offset has a mechanical configuration like the one shown here.

  • Page 81: Arm Solutions

    Configure an Articulated Independent Robot Chapter 4 Arm Solutions A Kinematic arm solution is the position of all joints on the robot that correspond to a Cartesian position. When the Cartesian position is inside the workspace of the robot, then at least one solution always exists. Many of the geometries have multiple joint solutions for a single Cartesian position.

  • Page 82: Activating Kinematics

    Chapter 4 Configure an Articulated Independent Robot For example, consider the Cartesian point XYZ (10,0,15). The joint position corresponding to this point has four joint solutions. Two of the solutions are the same as the solutions for the two-dimensional case. The other two solutions are mirror image solutions where J1 is rotated 180.

  • Page 83: Change The Robot Arm Solution

    Configure an Articulated Independent Robot Chapter 4 Change the Robot Arm Solution You can switch the robot from a left-arm solution to a right-arm solution or vice versa. This is done automatically when a joint move is programmed forcing a left/right change to occur. After the change is performed, the robot stays in the new arm solution when Cartesian moves are made.

  • Page 84: Encounter A No-Solution Position

    Chapter 4 Configure an Articulated Independent Robot Encounter a No-solution Position ATTENTION: Avoid programming your robot towards a no solution position when programming in Cartesian mode. The velocity of the robot increases very rapidly as it approaches this position and can result in injury or death to personnel.
  • Page 85 Configure an Articulated Independent Robot Chapter 4 The internal Kinematic equations are written as if the start position for the SCARA Independent robot joints are as shown in Figure Figure 35 - Joint and Link Start Position that Kinematics Equations use for the SCARA Independent Robots Top View •...

  • Page 86: Scara Independent Robot

    Chapter 4 Configure an Articulated Independent Robot Figure 36 - Example Source and Target Coordinate Systems for a SCARA Independent Robot Target Coordinate System Configuration Source Coordinate System Configuration Identify the Work Envelope for a SCARA Independent Robot The work envelope is the three-dimensional region of space that defines the reaching boundaries for the robot arm.

  • Page 87: Scara Independent Robot

    Configure an Articulated Independent Robot Chapter 4 Define Configuration Parameters for a SCARA Independent Robot Logix Designer application can be configured for control of robots with varying reach and payload capacities. As a result, it is very important to know the configuration parameter values for your robot including: •...

  • Page 88: Error Conditions

    Chapter 4 Configure an Articulated Independent Robot Link Lengths Link lengths are the rigid mechanical bodies attached at joints. Figure 39 - Configuring Link Lengths for a SCARA Independent Robot Enter the Link Length values. For the robot shown in SCARA Independent above, the Link Length values are: •...

  • Page 89: Monitor Status Bits For Kinematics

    Configure an Articulated Independent Robot Chapter 4 Monitor Status Bits for Kinematics You can monitor the status of the Kinematics functions by using Logix Designer application status bits. To see if Check this tag And this bit A coordinate system is the source Coordinate system TransformSourceStatus of an active transform...
  • Page 90 Chapter 4 Configure an Articulated Independent Robot Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 91: Reference Frame

    Chapter Configure an Articulated Dependent Robot Topic Page Reference Frame Methods to Establish a Reference Frame Work Envelope Configuration Parameters The Articulated Dependent robot has motors for the elbow and the shoulder at the base of the robot. The dependent link controls J3 at the elbow. Use these guidelines when configuring an Articulated Dependent robot.
  • Page 92 Chapter 5 Configure an Articulated Dependent Robot Figure 40 - Articulated Dependent 1 Before you begin establishing the Joint-to-Cartesian reference frame relationship, it is important to know some information about how the Kinematic mathematical equations in the ControlLogix® controllers were written.

  • Page 93: Methods To Establish A Reference Frame

    Configure an Articulated Dependent Robot Chapter 5 When your robot is physically in this position, the Logix Designer application Actual Position tags for the axes must be: • J1 = 0 • J2 = 90 • J3 = -90 Figure 42 - Articulated Dependent 3 Side View If the physical position and joint angle values of your robot cannot match those shown in...

  • Page 94: Method 1 - Establishing A Reference Frame

    Chapter 5 Configure an Articulated Dependent Robot Method 1 - Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions. Manually move or press each axis of the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer.

  • Page 95: Method 2 - Establishing A Reference Frame

    Configure an Articulated Dependent Robot Chapter 5 Figure 43 - Example of Zero Angle Orientation for an Articulated Dependent Robot Set the Zero Angle Orientations. Method 2 - Establishing a Reference Frame Position the robot so that: • L1 is parallel to the X3 axis. •...

  • Page 96: Work Envelope

    Chapter 5 Configure an Articulated Dependent Robot Work Envelope The work envelope is the three-dimensional region of space that defines the reaching boundaries for the robot arm. The work envelope of an articulated robot is ideally a complete sphere having an inner radius equal to |L1- L2| and outer radius equal to |L1+L2|.

  • Page 97: Configuration Parameters

    Configure an Articulated Dependent Robot Chapter 5 Configuration Parameters Logix Designer application can be configured for control of robots with varied reach and payload capacities. As a result, it is important to know the configuration parameter values for your robot including: •...

  • Page 98: Base Offsets

    Chapter 5 Configure an Articulated Dependent Robot Figure 45 - Example of Link Lengths for an Articulated Dependent Robot Enter the Link Length values. For the robot shown in our example, the Link Length values are: • L1 = 10.0 •...

  • Page 99: End-Effector Offsets

    Configure an Articulated Dependent Robot Chapter 5 End-effector Offsets The robot can have an end-effector attached to the end of robot link L2. If there is an attached end-effector, then you must configure the end-effector offset value on the Coordinate System Properties dialog. The end-effector offsets are defined regarding the tool reference frame at the tool tip.
  • Page 100 Chapter 5 Configure an Articulated Dependent Robot Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 101: Establish The Reference Frame For A

    Chapter Configure a Cartesian Gantry Robot Topic Page Establish the Reference Frame for a Cartesian Gantry Robot Identify the Work Envelope for a Cartesian Gantry Robot Define Configuration Parameters for a Cartesian Gantry Robot Use these guidelines when configuring a Cartesian Gantry robot. Establish the Reference For a Cartesian Gantry robot, the reference frame is an orthogonal set of X1, X2, and X3 axes positioned anywhere on the Cartesian...

  • Page 102: Cartesian Gantry Robot

    Chapter 6 Configure a Cartesian Gantry Robot Define Configuration You do not need to define the link lengths, base offset, or end-effector offset configuration parameters for a Cartesian Gantry robot. Parameters for a Cartesian Gantry Robot Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 103: About Cartesian H-Bots

    Chapter Configure a Cartesian H-bot Topic Page About Cartesian H-bots Establish the Reference Frame for a Cartesian H-bot Identify the Work Envelope for a Cartesian H-bot Define Configuration Parameters for a Cartesian H-bot About Cartesian H-bots 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.

  • Page 104: Identify The Work Envelope For A

    Chapter 7 Configure a Cartesian H-bot • Motors A and B are both rotated clockwise at the same speed, then the machine moves along a horizontal line • Motors A and B are both rotated counterclockwise at the same speed then the machine moves along a vertical line be reached by properly programming the two motors.

  • Page 105: Cartesian H-Bot

    Configure a Cartesian H-bot Chapter 7 Define Configuration You do not need to define the link lengths, base offset, or end-effector offset configuration parameters for a Cartesian H-bot. Parameters for a Cartesian H-bot Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...
  • Page 106 Chapter 7 Configure a Cartesian H-bot Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 107: Camming Concepts

    Chapter Configure Camming This chapter describes camming concepts. You use the motion coordinated instructions to move as many as three axes in a coordinate system. Descriptions of these instructions are in the Logix5000™ Controllers Motion Instructions Reference Manual, publication MOTION-RM002. Topic Page Camming Concepts...

  • Page 108: Electronic Camming

    Chapter 8 Configure Camming Mechanical camming has the following characteristics: • 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. This figure illustrates a mechanical cam turning in a clockwise manner and the affect it has on a follower that is physically connected to it.

  • Page 109: Cam Profiles

    Configure Camming Chapter 8 Cam Profiles A cam profile is a representation of non-linear motion, that is, a motion profile that includes a start point, end point, and all points and segments in between. An array of cam elements represents a cam profile. The point pair that is used in a cam profile determines slave axis movement in response to master axis positions or times.

  • Page 110: Time Cam Profile

    Chapter 8 Configure Camming Linear and Cubic Interpolation The resultant calculated cam profiles are fully interpolated. The linear or cubic interpolation between adjacent points determines the slave axis position if the following is true: • The current master position or time does not correspond exactly with a point in the cam array that is used to generate the cam profile.

  • Page 111: Calculating A Cam Profile

    Configure Camming Chapter 8 In this way, the smoothest possible slave motion is provided. Each point in the cam array that was used to generate the time cam profile can be configured for linear or cubic interpolation. Electronic camming remains active through any subsequent execution of jog, or move processes for the slave axis.

  • Page 112: Run Cam Profile

    Chapter 8 Configure Camming Figure 51 - Acceleration Cam Profile Run Cam Profile A run cam profile determines the movement of a slave axis. This process begins when the master axis reaches a specific position and remains steady until the end of the cam profile.

  • Page 113: Deceleration Cam Profile

    Configure Camming Chapter 8 Deceleration Cam Profile A deceleration cam profile determines the deceleration of a slave axis from a particular position. Figure 53 illustrates a sample deceleration cam profile in the Logix Designer programming software cam editor. Figure 53 - Deceleration Cam Profile Dwell Cam Profile A dwell cam profile stops all slave axis movement until another cam profile begins operation.

  • Page 114: Behavior Of Pending Cams

    Chapter 8 Configure Camming Figure 54 - Dwell Cam Profile Behavior of Pending Cams If you want to run one profile and then pend another one, you must execute the 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 ½...

  • Page 115: Scaling Cams

    Configure Camming Chapter 8 Scaling Cams You can use the scaling feature to determine the general form of the motion profile with one stored cam profile. With this feature, one standard cam profile can be used to generate a family of specific cam profiles. Scaling works slightly differently when it is used with an MAPC instruction, in position cam profiles, than when it is used with an MATC instruction, in time cam profiles.

  • Page 116: Scaling Time Cam Profiles

    Chapter 8 Configure Camming To maintain the velocities and accelerations of the scaled profile approximately equal to the values of the unscaled profile, the Master Scaling and Slave Scaling values must be equal. For example, if the Slave Scaling value of a profile is 2, the Master Scaling value must also be 2.

  • Page 117: Cam Execution Modes

    Configure Camming Chapter 8 To maintain the velocities and accelerations of the scaled profile approximately equal to the values of the unscaled profile, the Time Scaling and Distance Scaling values must be equal. For example, if the Distance Scaling value of a profile is 2, the Time Scaling value must also be 2.
  • Page 118 Chapter 8 Configure Camming • Reverse Only • Bidirectional Immediate By default, the MAPC instruction is scheduled to execute Immediately. In this case, there is no delay to the enabling of the position camming process and the 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.
  • Page 119 Configure Camming Chapter 8 Cam Start Point that results in a velocity or acceleration discontinuity to the slave axis if the master axis is moving. Figure 58 - Changing the Cam Lock Position Cam Profile Slave Axis Start Position Position Master Axis Position Position Cam Lock...
  • Page 120 Chapter 8 Configure Camming 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 121: Matc Instruction

    Configure Camming Chapter 8 From this point on, only the incremental change in the master axis position determines the corresponding slave axis position from the defined cam profile. This condition is important for applications where the master axis is a rotary axis because the position cam is then unaffected by the position unwind process.

  • Page 122: Pending Cams

    Chapter 8 Configure Camming Figure 60 - Time Cam Status Cam Profile Axis Start Position Position Time Time Cam Status Time Cam Initiated If an MATC instruction is executed on an axis that is already actively time camming, an Illegal Dynamic Change error is generated (error code 23). The only exception for this occurrence is if the Execution Schedule is specified as pending.
  • Page 123 Configure Camming Chapter 8 Figure 61 - Pending Cam Execution Accel Profile Run Profile Decel Profile MAPC Instruction Slave Axis Position Master Axis Position Accel Profile Run Profile Decel Profile MATC Instruction Slave Axis Position Master Axis Time By executing the position cam profile as a Pending cam profile while the current profile is still executing, the appropriate cam profile parameters are configured ahead of time.
  • Page 124 Chapter 8 Configure Camming of the change and uses this information to maintain synchronization between the profiles. If the Execution Schedule of an instruction is set to Immediate and a position or time cam profile is in process, the instruction errs. In this case, the instruction generates an Illegal Dynamic Change error, error code 23, in the programming software.
  • Page 125 Configure Camming Chapter 8 The Position or Time Cam Pending Status bit of the Motion Status word for the specified slave axis is set to 1 (true). This process occurs after a Pending position cam has been configured. When the pending (new) profile is initiated and becomes the current profile, Position or Time Cam Pending Status bit is immediately cleared as shown in Figure...
  • Page 126 Chapter 8 Configure Camming Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...

  • Page 127: Index

    Index Coordinate System Dialog Boxes Dynamics 17 acceleration 111 General 17 acceleration cam 111 Geometry 17 Arm Solution Manual Adjust 17 Offset 17 definition of Tag 17 configuring 81 Units 17 Articulated Dependent Coordinate System Properties base offsets 98 Dynamics Tab 25 define configuration parameters 97 Manual Adjust 27 end effector offsets 99...

  • Page 128: Rockwell Automation Publication Motion-Um002E-En-P - June

    Index interpolation 110 deceleration 111 deceleration cam 113 Delta 62 Delta Robot execution of 110 Maximum Negative Joint Limit Condition 69 Maximum Positive Joint Limit Condition 68 types Kinematics configure 62 activating 82 Delta three-dimensional arm solutions 81 configuration parameters 69 arm solutions for two axes robots 81 configure 62 Articulated Independent 53...
  • Page 129 Index motion coordinated instructions See multi-axis coordinated motion salve axis 125 instructoins scaling 115 MRP 120 SCARA Delta Multi-Axis Coordinated Motion Instructions configuration parameters 78 establish the reference frame 76 Introduction 13 identify the work envelope 78 MCSR 47 SCARA Independent Motion Coordinated Change Dynamics reference frame 84 (MCCD) 9...
  • Page 130 Index Notes: Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016...
  • Page 132 Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, CompactLogix, ControlLogix, FactoryTalk, GuardLogix, Logix5000, Rockwell Automation, Rockwell Software, SoftLogix, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

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