2D-Kinematics Type 5 (S_CC)

2D-Kinematics Type 5 (S_CC) 1:
2D-Kinematics Type 5 (S_CC) 2:

A crank consists of a wheel with an eccentrically located pin. Two cranks whose ends lead to bearings facilitate two dimensional movements of the TCP. The cranks are moved by motors that are obstructed in a stationary machine.

Parameters for the Kinematics

Parameter

Description

Type

Unit

Radius R1

  • The quantity R1 describes the lever arm of crank 1. This lever arm is measured from the crank center to the center of the pin in the bearing.
  • The rotational center of crank 1 is fixed.
  • Crank 1 is moved by motor M1.
  • Motor M1 evokes movements in X-direction of the TCP.

LREAL

mm

Radius R2

  • The quantity R2 describes the lever arm of crank 2. This lever arm is measured from the crank center to the center of the pin in the bearing.
  • The rotational center of crank 2 is fixed.
  • Crank 2 is moved by motor M2.
  • Motor M2 evokes movements in Y-direction of the TCP.

LREAL

mm

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)