FUNCTION_BLOCK Kin_Gantry3 IMPLEMENTS ISMPositionKinematics_Offset,
ISMPositionKinematicsInternal, ISMKinematicWithInfo2, ISMKinematicAxisSettings
Transformation FB for a 3-axis gantry.
In a gantry robot, the machine coordinates correspond directly to the positions of the axes. One may think of x and y as the width and length of a box and take z as the height of the box. The interior of this box is referred to as the working envelope of the gantry robot.
The orientation of the tool coordinate system equals the one of the machine coordinate system.
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) |
Attributes:
sm_kin_libdoc
