3D-Kinematics Type 7 (PXX SZ)
The 3D-Kinematics Type 7 (PXX SZ) is structured as shown in the schematic above.
The zero point of the machine coordinate system (MCS) can be anywhere in space. The hooks of the three arms are defined starting from the MCS origin. For the definition of the offset, the starting point for the central pillar is the position parallel to the Z-axis of the MCS, so that the fixed length from the central pillar to the suspension of the other two arms is the "central pillar Z-offset". At the end of the central pillar there may also be a rail, whose tip is specified by the "rail offset".
All motor axes are scaled in millimeters, the arrow indicating the positive direction.
Parameters Joint Hooks
Parameter | Description | Type | Unit |
|---|---|---|---|
Hook 1 | Hook of the first arm |
|
|
X-shift | X-position of Hook 1 in relation to the MCS |
| mm |
Y-shift | Y-position of Hook 1 in relation to the MCS |
| mm |
Z-shift | Z-position of Hook 1 in relation to the MCS |
| mm |
Hook 2 | Hook of the second arm |
|
|
X-shift | X-position of Hook 2 in relation to the MCS |
| mm |
Y-shift | Y-position of Hook 2 in relation to the MCS |
| mm |
Z-shift | Z-position of Hook 2 in relation to the MCS |
| mm |
Hook Center | Hook of the central pillar |
|
|
X-shift | X-position of Hook Center in relation to the MCS |
| mm |
Y-shift | Y-position of Hook Center in relation to the MCS |
| mm |
Z-shift | Z-position of Hook Center in relation to the MCS |
| mm |
Parameters Central Pillar
The parameters for the central pillar including the rail are specified in relation to the arm position parallel to the Z-axis.
Parameter | Description | Type | Unit |
|---|---|---|---|
X1 offset | Distance between the hook of the first arm and the central pillar in the X-direction |
| mm |
X2 offset | Distance between the hook of the second arm and the central pillar in the X-direction |
| mm |
Y1 offset | Distance between the hook of the first arm and the central pillar in the Y-direction |
| mm |
Y2 offset | Distance between the hook of the second arm and the central pillar in the Y-direction |
| mm |
Z offset | Distance between the hook of the central pillar and the connection of the arms to the central pillar |
| mm |
|
|
|
|
Rail offset |
|
|
|
X rail offset | Distance between the central point of the tip of the central pillar and the tip of the rail in the X-direction |
| mm |
Y rail offset | Distance between the central point of the tip of the central pillar and the tip of the rail in the Y-direction |
| mm |
Z rail offset | Distance between the central point of the tip of the central pillar and the tip of the rail in the Z-direction |
| 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 V3.1.4024.7 TF5400 TwinCAT 3 Advanced Motion Pack V3.1.10.30 | PC or CX (x86 or x64) | TF5112 TwinCAT 3 Kinematic Transformation (Level 3) |