2D-Kinematics H-Bot (P_2Y)

2D-Kinematics H-Bot (P_2Y) 1:

The 2D-Kinematics H-Bot (P_2Y) is configured as shown in the diagram above.

The motor axes have to be scaled in millimeters. All the other position parameters result from the kinematic constraints.

The point of origin of the machine coordinate system MCS is defined by the point for that the positions of the two motors are zero.

Parameters for the Dynamic Model

Parameter

Description

Type

FirstDriveTorqueOID

Object ID of the first drive torque (see here).
If the motors and gear units of all motors behave in a similar way, all drive torques can be represented via an OID. Both parameters therefore refer to the same object ID.

OTCID

SecondDriveTorqueOID

Object ID of the second drive torque

OTCID

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:

Requirements

Development Environment
Installation Package

Target System

TwinCAT Function

TwinCAT V3.1.4018.26
TF5400 TwinCAT 3 Advanced Motion Pack V3.1.6.14

PC or CX (x86 or x64)

TF5111 TwinCAT 3 Kinematic Transformation (Level 2)