4D-SCARA (S_CCZC)
The 4D-SCARA (Selective Compliance Assembly Robot Arm) Kinematics (S_CCZC) are configured as shown in the diagram above.
The motor axes M1, M2 and M4 are scaled in degrees whereat the arrow indicates the positive direction of rotation. The third motor axis M3 is scaled in millimeters.
The origin of the MCS is located in the first joint (M1). The X-axis is determined by the SCARA arm, when all rotational motor axes reside at 0°.
 | The extension position of the SCARA arm (all rotary motor axes at position 0°) cannot be reached in cartesian mode because the robot is in a singular position there. It is only possible to drive to these positions in axis mode (Direct Mode). |
Parameters for the Kinematics
Parameter | Description | Type | Unit |
|---|---|---|---|
Inner arm length | Length from pivot point to pivot point of the inner arm; this is the arm on the origin side. |
| mm |
Outer arm length | Length from pivot point to pivot point of the outer arm; this is the arm on the TCP side. |
| mm |
Gear coupling | Coupling factor between the axes M4 and M3. |
| mm/° |
Flange rotation A | Rotation angle around the local X-axis. |
| ° |
Tool offset OID | Object ID of a tool mounted on the kinematics flange. The flange coordinate system is rotated 180° around the X-axis so that its Z-axis points downwards. |
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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 | Target System | TwinCAT Function |
|---|---|---|
TwinCAT V3.1.4018.26 | PC or CX (x86 or x64) | TF5112 TwinCAT 3 Kinematic Transformation (Level 3) |