Supported Transformation
Overview
Transformation type | Schema | Required TwinCAT function (level) |
|---|---|---|
| TF5110 TwinCAT 3 Kinematic Transformation (Level 1) | |
| TF5111 TwinCAT 3 Kinematic Transformation (Level 2) | |
| TF5111 TwinCAT 3 Kinematic Transformation (Level 2) | |
| TF5111 TwinCAT 3 Kinematic Transformation (Level 2) | |
| TF5111 TwinCAT 3 Kinematic Transformation (Level 2) | |
| TF5111 TwinCAT 3 Kinematic Transformation (Level 2) | |
| TF5111 TwinCAT 3 Kinematic Transformation (Level 2) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
Delta Type 2 (P_3C2) |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
3D-Cable Type 1 (P_3Z) |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5112 TwinCAT 3 Kinematic Transformation (Level 3) | |
| TF5113 TwinCAT 3 Kinematic Transformation (Level 4) | |
| TF5113 TwinCAT 3 Kinematic Transformation (Level 4) | |
| TF5113 TwinCAT 3 Kinematic Transformation (Level 4) | |
| TF5113 TwinCAT 3 Kinematic Transformation (Level 4) |
Additional objects
The following objects can be created and selected in the corresponding kinematics. A dropdown parameter list in the kinematics is used for the selection. Select the corresponding object ID (OTCID).
object type | Description | Required level and version |
|---|---|---|
Tool offset - describes a tool at the level of the kinematics flange. | TF5110 TwinCAT 3 Kinematic Transformation (Level 1) | |
Linear tool - describes a 1D tool mounted on the kinematics flange, which offers the option to move the TCP towards the tool. | TF5110 TwinCAT 3 Kinematic Transformation (Level 1) | |
Drive torque - represents the inertia and the efficiency of the motor and drive, to enable more precise calculation of the dynamic model. | TF5110 TwinCAT 3 Kinematic Transformation (Level 1) | |
Coordinate system - describes a user-defined coordinate system. | TF5110 TwinCAT 3 Kinematic Transformation (Level 1) |
- General Parameters for the Kinematics
- Static Transformation
- 2D-Kinematics Type 1 (P_2C)
- 2D-Kinematics Type 2 (P_2C2)
- 2D-Kinematics Type 3 (S_CC)
- 2D-Kinematics H-Bot (P_2Y)
- 2D-Kinematics Type 5 (S_CC)
- 2D-Kinematics Type 6 (P_2X)
- 3D-Delta Type 1 (P_3C)
- 3D-Delta T Type 3 (P_3C3)
- 3D-Tripod Type 1 (P_3Z)
- 3D-Tripod Type 2 (P_3L)
- 3D-Cable Kinematics Type 2 (P_3L)
- 3D-Kinematics Type 7 (PXX SZ)
- 4D-SCARA (S_CCZC)
- 4D-Kinematics Type 6 (S_XCZC)
- 4D-Cable-Kinematics (P_4L)
- 5D-Kinematics Type 2 (XYZab)
- 5D-Kinematics Type 3 (XYZAB)
- 6D-Stewart Platform (P_6L)
- Six Axis Articulated (S_CBBCBC)
- Drive Torque
- Tool Offset
- Tool Linear
- Coordinate system (Coordinate Frame)