Transformation parameters (P-AXIS-00370)

P-AXIS-00370

Transformation parameters of axis specific command value transformation

Description

The transformation parameters are entered in this array corresponding to the selected transformation ID P-AXIS-00369 .

Parameter

trafo.command_pos.param[i] where i = 0 … 74 (Maximum number of transformation parameters,
application-specific

Data type

REAL64

Data range

Meaning (depends on transformation ID)

ID 1: e-function

param[0]     h (*) in 1.0 E-4 mm

param[1]     k₀ (*)

param[2]     k₁ (*)

param[3]     k₂ (*)

param[4]     φ_Norm Normalisation of motor angle (*) in 1.0 E-4°

(*see equations of the functions)

ID 2: Crank function

param[0]      Crank length l₁ in 1.0 E-4 mm

param[1]      Con-rod length l₂ in 1.0 E-4 mm

param[2]      Eccentricity e

param[3]      Solution range for motor angle φM

                    0:.0-180 degrees

                    1: 180-360 degrees

param[4]      Moving direction of linear axis

                    0: positive

                    1: negative

param[10]    Zero point offset of linear axis In 1.0 E-4 mm

ID 3: Eccenter function

param[0]      Eccenter radius R in 1.0 E-4 mm

param[1]     Offset zero position linear axis In 1.0 E-4 mm

param[2]      Offset zero position rotary axis in 1.0 E-4°

param[3]      Solution range angle j

                    0:.-90..+90 degrees

                    1: 90..270 degrees

ID 4: Slider crank kinematic

param[0]     l_a Distance 1 hinge points In 1.0 E-4 mm

param[1]     l_b Distance 2 hinge points In 1.0 E-4 mm

param[2]     Crank length l_h in 1.0 E-4 mm

param[3]     Offset zero position linear axis In 1.0 E-4 mm

param[4]     Rotation direction of rotary axis B

                    0: positive

                    1: negative

ID 5: Angular kinematic

param[0]     l₁ Length 1 in 1.0 E-4 mm

param[1]     l₂ Length 2 in 1.0 E-4 mm

param[2]     Stroke length l_h in 1.0 E-4 mm

param[3]     Lower limit of angle excursion in 1.0 E-4°

param[4]     Upper limit of angle excursion in 1.0 E-4°

param[5]     Position offset for linear axis in 1.0 E-4 mm (as of V3.1.3107.46/ V4.7.0)

param[6]     Angle offset of angle excursion in 1.0 E-4°(as of V3.1.3107.52)

param[7]     Angle inversion (as of V3.1.3107.52)

                    0:.no angle inversion

                    1: Angle value is inverted.

param[8]     Inversion of linear position (as of V3.1.3107.52)

                    0: no inversion

                    1: Linear position is inverted.

ID 6: Symmetrical slider crank

param[0]      Crank length/con-rod length l in 1.0 E-4 mm

param[1]     Offset zero position linear axis In 1.0 E-4 mm

param[2]      Zero point offset of rotary axis 1.0 E-4°

param[3]      Solution range for motor angle φM

                    0:.0-180 degrees

                    1: 180-360 degrees

Axis types

R

Dimension

R: ----

Default value

0

Drive types

----

Remarks