Installation

The kinematics package integrates itself transparently into the existing Motion Control world of TwinCAT: simple insertion of an additional Kinematic channel is sufficient. The complete parameterization is done in the TwinCAT System Manager. The package supports different parallel and serial kinematic systems, as used for e.g. Pick & Place tasks.
The supplement is based on TwinCAT NC I for interpolating movements and G-Code (DIN 66025). In addition, standard PTP and cam plate applications can be realized. Programming is usually based on the Cartesian coordinate system, with the control system calculating the inverse kinematics for the relevant motor positions. The kinematic system can be selected in the TwinCAT System Manager. The kinematic channel is used to parameterize the type (e.g. delta) and the bar lengths and offsets. Mass and mass inertia values can be specified for dynamic pre-control. The “flying saw” and “cam plate” functions enable synchronization with conveyor belts for picking or placing work pieces, for example.