3D-Kinematics Type 8 (S_CCC)
The 3D-Kinematics Type 8 (S_CCC) describes a serial kinematic transformation that is structured as shown in the diagram above.
All joints are scaled in degrees, with the positive direction of rotation being in the direction of the arrow. The origin of the machine coordinate system (MCS) is located in joint J1.
 | Singular positions Singular positions cannot be approached in Cartesian mode. It is only possible to approach these positions in axis mode (direct mode). |
Kinematics parameters
Parameter | Description | Type | Unit |
|---|---|---|---|
Arm length L1 | Distance between joints J1 and J2 |
| mm |
Arm length L2 | Distance between joints J2 and J3 |
| mm |
Arm length L3 | Distance between joint J3 and the flange |
| mm |
Parameters for a gear coupling
If there are other motors between the physical position of a motor and the corresponding joint, there is a coupling between them. The respective coupling factor must be parameterized.
Parameter | Description | Type |
|---|---|---|
Gear coupling 1 to 2 | The parameter describes the influence of the motor M1 on the joint J2. |
|
Gear coupling 1 to 3 | The parameter describes the influence of the motor M1 on the joint J3. |
|
Gear coupling 2 to 3 | The parameter describes the influence of the motor M2 on the joint J3. |
|
General Parameters for the Kinematics
General parameters that apply to any kinematics are described in the following sections:
For all kinematics with tool also applies:
Prerequisites
Installation package | Target platform | TwinCAT function |
|---|---|---|
TF5400 TwinCAT 3 Advanced Motion Pack V3.3.57 | PC or CX (x86 or x64) | TF5112 TwinCAT 3 Kinematic Transformation (Level 3) |