2D-Kinematics Type 6 (P_2X)

2D-Kinematics Type 6 (P_2X) 1:

With the Kinematics the two linear axes M1 and M2 enable movements within the XY-plane.

Parameters for the Kinematics

Parameter

Description

Type

Unit

Flange translation X

Spatial shift in X-direction.

LREAL

mm

Arm length (L)

Length of the joint segments each measured from the motor to the joint of the flange.

LREAL

mm

Motor distance (h)

The motor distance h is the Y-distance of the joints at the motors. (The motors M1 and M2 both move in X-direction. The motor distance h is measured from joint center point to joint center point.)

LREAL

mm

Link distance (dy)

The link distance dy is the distance between the joints in the flange.

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)