5D-Kinematics Type 3 (XYZAB)

The 5D-Kinematics Type 3 (XYZAB) are configured as shown in the drawing above.

The motors M1 to M3 (X, Y, Z) are scaled in millimeters. The motors M4 and M5 are scaled in degrees. The 0° position is the axis position shown in the drawing; the arrows indicate the positive direction of rotation.

	Difference of Type 3 The 5D-Kinematics Type 3 differ from the 5D-Kinematics Type 2 in the orientation of the positive direction of axis rotation around the motor axes M4 and M5.

Parameters for the Kinematics

Parameter	Description	Type	Unit
Handle D4	Arm length in X-direction between motor axis 4 and motor axis 5 as shown in the drawing.	`LREAL`	mm
Offset 4	Offset in y-direction between motor axis 4 and TCP.	`LREAL`	mm
Offset 5	Offset in X-direction between motor axis 5 and TCP.	`LREAL`	mm
Offset 6	Offset in Z-direction between motor axis 4 and motor axis 5.	`LREAL`	mm
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.	`OTCID`

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:

Tool Offset OID.

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)	TF5113 TwinCAT 3 Kinematic Transformation (Level 4)