KIN_TYP_36

The robot kinematic consists of three rotatary and one translatory NC-axes in tool. In Z-axis direction tool length correction is done. All rotary axes are from type C axis.

Axis configuration in NC channel

Axis designation

X, Y, Z, C (C1, C2, Z, C3)

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X,Y, Z, C

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KIN_TYP_36 1:
Figure 2-43: SCARA kinematic
KIN_TYP_36 2:
Figure 2-44: SCARA kinematic in zero position (C1=0, C2=0, C3=0)

Depending on angular position of robot joint 2 (C2) the SCARA works as left or right handed robot.The machine axis position before activation of transformation determines if the robot moves as left or right handed SCARA. Change from left-handed robot to right handed robot can be done with inactive transformation.

Further Information