2D-Kinematics Type 2 (P_2C2)

The 2D-Kinematics Type 2 (P_2C2) is configured as shown in the diagram above.

All motor axes are scaled in degrees; 0° is defined as shown in the diagram. The arrow indicates the positive direction.

Parameters for the Kinematics

Parameter	Description	Type	Unit
Inner arm length	Length between pivots of the inner arm	`LREAL`	mm
Outer arm length	Length between pivots of the outer arm	`LREAL`	mm
Displacement	Length between the center of the base plate and the virtual rotation axes of the inner arm	`LREAL`	mm
TCP link distance	Distance between pivots of the outer arm	`LREAL`	mm

Parameter	Description	Type	Unit
Inner arm mass	Total mass of the inner arm	`LREAL`	kg
Inner arm moment of inertia	Moment of inertia of the inner arm in relation to pivot point P1, which is linked with the motor.	`LREAL`	kg mm^2
Outer arm mass	The mass of the external arms minus the mass of the joint can optionally be described as a separate parameter.	`LREAL`	kg
First link mass	Mass of the joint linking the inner and outer arm. Can be used if the mass of the joint is not already included in the outer and inner arms. The mass of the joint linking the gripper plate with the outer arm is not specified here. It can be added to the TCP mass. The mass of the first joint refers to the inner arm that is linked to M1.	`LREAL`	kg
Second link mass	see First link mass The mass of the second joint refers to the inner arm that is linked to M2.	`LREAL`	kg
TCP mass	Mass of the TCP, including gripper plate and gripper. The payload is usually described with a separate parameter.	`LREAL`	kg
First drive torque OID	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`
Second drive torque OID	Object ID of the second drive torque	`OTCID`

General parameters that apply to any kinematics are described in the following sections:

For all kinematics with tool also applies:

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)