Transformation parameters (P-AXIS-00382)

Extracted nested table 2

param[0]

h (*)

param[1]

k0 (*)

param[2]

k1 (*)

param[3]

k2 (*)

Extracted nested table 1

param[0]

Crank length l1

param[1]

Con-rod length l2

param[2]

Eccentricity e

param[3]

Solution range for motor angleϕM

0:.0..180 degree

1: 180..360 degree

param[4]

Moving direction of linear axis

0: positive

1: negative

Extracted nested table 0

param[0]

la Distance 1 hinge points

param[1]

lb Distance 2 hinge points

param[2]

Crank length lh

param[3]

Offset zero position linear axis

Variable name

Type

Significance (depends on transformation ID)

Axis type

Dimension

param[i]

REAL64

ID 1see "Extracted nested table 2"

(*see equations of the functions)

ID 2:see "Extracted nested table 1"

ID 4:see "Extracted nested table 0"

R

----

ID 1: e- function

Transformation parameters (P-AXIS-00382) 1:

Example:


   trafo.act_pos.param[0]      10000   trafo.act_pos.param[1]      1.0    trafo.act_pos.param[2]      2.0    trafo.act_pos.param[3]      1.0 

Transformation parameters (P-AXIS-00382) 2:

ID2: Crank

Transformation parameters (P-AXIS-00382) 3:

Transformation parameters (P-AXIS-00382) 4:

Example:

   trafo.act_pos.param[0]     
1000000   trafo.act_pos.param[1]   
      3000000   trafo.act_pos.param[2]           
0   trafo.act_pos.param[3]           
0

Transformation parameters (P-AXIS-00382) 5:

ID4: Crank with linkage by linear axis

Transformation parameters (P-AXIS-00382) 6:

Transformation parameters (P-AXIS-00382) 7:

Example:

   trafo.command_pos.param[0]     
1000000   trafo.command_pos.param[1]     
1410000   trafo.command_pos.param[2]     
1000000   trafo.command_pos.param[3]           
0

If the kinematic is in zero position(β=0), the transformation delivers for ls the position 0. If necessary, by param[3] an offset to this position can be defined.

Transformation parameters (P-AXIS-00382) 8: