FUNCTION_BLOCK Kin_HGantry3 IMPLEMENTS ISMPositionKinematics_Offset,
ISMPositionKinematicsInternal, ISMKinematicWithInfo2, ISMKinematicAxisSettings
Transformation FB for a 3-axis H gantry.
(see Kin_HGantry2)
The kinematics configuration is similar to that described in Kin_Gantry3. However, the drives are mounted stationary. They move the y-axis rail and slider by means of a drive belt on the perimeter of the frame. (see picture aside; belt in pink).
The transformation is adequate for the following axes configurations (other configurations can be reached by interchanging A and B):
A and B moving with the same speed results in a movement along the Y axis, whereas A und B moving in opposite direction results in a pure X-movement.
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 1st axis of the machine (A) |
|
a1 |
position of the 2nd axis of the machine (B) |
|
a2 |
position of the z axis of the machine (Z) |
Attributes:
sm_kin_libdoc
