FUNCTION_BLOCK Kin_Scara2_Z IMPLEMENTS ISMPositionKinematicsInternal,
ISMPositionKinematics_Offset2 , ISMKinematicWithConfigurations3, ISMKinematicWithInfo2, ISMKinematicAxisSettings
Transformation FB for Scara2 kinematics with an additional axis.
The Selective Compliance Assembly Robot Arm (SCARA) is a special type of industrial robot which resembles to an human arm. A Scara2 system exhibits two axes and two degrees of freedom. The motion is limited to the X-Y-plane.
This FB features an additional vertical axis. The system consists of
a rotary axis a0 that turns the robot around the Z axis,
the first joint with length dArmLength1,
a second rotary axis a1 that turns the following parts of the robot around the Z axis,
the second joint with length dArmLength2 and
a linear axis (a2) that is orientated in direction of Z.
There are two configurations that can be switched with the input xElbowRight of Kin_Scara2_Z_Config.
Relative to the machine coordinate system, the tool coordinate system is shifted and rotated around the Z axis.
The single axes values have the following interpretation:
|
a0 |
position of the first rotary axis around Z in degrees (A1) |
|
a1 |
position of the second rotary axis around Z in degrees (A2) |
|
a2 |
position of the linear axis in direction of Z axis (Z) |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dArmLength1 |
LREAL |
arm length of 1st joint |
|
dArmLength2 |
LREAL |
arm length of 2nd joint |
|
|
dOffsetA1 |
LREAL |
Additional offset of axis A1. This offset is subtracted before the forward transformation and added after the inverse transformation. |
|
|
dOffsetA2 |
LREAL |
Additional offset of axis A2. This offset is subtracted before the forward transformation and added after the inverse transformation. |
|
|
dOffsetZ |
LREAL |
Additional offset of axis Z. This offset is subtracted before the forward transformation and added after the inverse transformation. |
