Transformation parameters (P-AXIS-00382)
param[0] | h (*) |
param[1] | k0 (*) |
param[2] | k1 (*) |
param[3] | k2 (*) |
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 |
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
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
ID2: Crank
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
ID4: Crank with linkage by linear axis
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.
