FUNCTION_BLOCK Kin_Polar IMPLEMENTS ISMPositionKinematicsInternal,
Transformation FB for polar kinematics.
A Polar Systems consists of one distance and one direction axis.
Note that the distance axis can be mounted fix (in direction of the X-axis when dOffsetPhi = 0). Then the workpiece is rotated with the direction axis (in opposite direction). The distance axis has to be referenced in a way that its zero point lies in the center of the workpiece.
Relative to the machine coordinate system, the tool coordinate system is shifted and rotated around the Z axis by the current position of C.
The single axes values have the following interpretation:
|
a0 |
position of the rotary axis around Z in degrees |
|
a1 |
position of the linear axis in direction of X axis (>= 0) |
Note
This position kinematics does not support orientation mode "Axis" for CP movements.
Attributes:
sm_kin_libdoc
