5D-Kinematics Type 2 (XYZab)
The 5D-kinematics type 2 is built up as shown in the schema above.
Motor axes 1-3 (X, Y ,Z) are scaled in mm. Motor axes 4 and 5 are scaled in degree. 0° is defined as shown in the schema with positive rotation direction in direction of the arrows.
Parameter for kinematics
|
Parameter |
Description |
Unit |
|---|---|---|
|
D4 |
Arm length in direction of x from motor axis 4 to motor axis 5 as illustrated in picture. |
mm |
|
Offset 4 |
Offset in direction of y between motor axis 4 and TCP |
mm |
|
Offset 5 |
Offset in direction of x between motor axis 5 and TCP |
mm |
|
Offset 6 |
Offset in direction of z between motor axis 4 and motor axis 5 |
mm |
|
Tool offset OID |
Object ID of a tool attached at the flange of the kinematics. |
|
|
MCS2WCS OID |
Object ID of a static transformation which defines the position of MCS in base coordinate system (normally WCS). |
|
Required Product Level:
Level 4