FUNCTION_BLOCK Kin_5Axes EXTENDS Kin_Coupled
Transformation FB for 5-axes-gantries. This is a possible way how a coupled kinematic can be realized based on existing kinematics.
The 5-axes transformation enables the controlling of 3 linear axes (X, Y, Z) carrying a tool head, which consists of two axes carrying the tool. The tool head can be turned around the Z-axis and can be tilt according to the scheme aside.
In zero position, the tool center point (TCP) is located on (0/ 0/ -dToolLength), the tool extends in the direction of the negative Z axis. Moving the Inclination axis in positive direction moves the tool in the direction of the positive X axis (if dToolLength <> 0).
The single axes values have the following interpretation:
|
a0 |
position of the x axis of the machine (X) |
|
a1 |
position of the y axis of the machine (Y) |
|
a2 |
position of the z axis of the machine (Z) |
|
a3 |
angle [deg] of the yaw axis (azimuth) (A) |
|
a4 |
angle [deg] of the roll axis (inclination) (B) |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
Inherited from |
|
Input |
itfPosKin |
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|
itfOriKin |
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|
dToolLength |
LREAL |
Length of tool measured from the TCP to the point of intersection between the two axes (yaw/roll). |
