KIN_TYP_96 - Palletising kinematic
Kinematic structure
The articulated axes are numbered from 1 to 4. Axis 1 rotates about the z axis of the Cartesian coordinate system. The robot is represented with all articulated axes in zero position.
Rotation in positive direction corresponds to the mathematically positive direction of rotation in the Cartesian coordinate system. Articulated axes G1, G2, G3 must be configured as linear axes (with limited motion range). Articulated axis G4 must be configured as a modulo axis with a range of -180° to +180°.
The transformation may only be used when software limit switches are correctly set. In particular, the movements of axis 2 are dependent on the limit switch of axis 3. NB: Without limit switches, this transformation can damage the robot.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, C (G1, G2, G3, G4) | |
Axis index | 0, 1, 2, 3 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z, C | - |
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | X offset articulated axis G2 | 1.0 E-4 mm |
HD2 | 1 | Z offset articulated axis G2 | 1.0 E-4 mm |
HD3 | 2 | Length of the first arm (distance between G3 and G2) | 1.0 E-4 mm |
HD4 | 3 | Y offset between G2 and G1. | 1.0 E-4 mm |
HD5 | 4 | Length of second arm (distance between the right-hand joint of the second arm and G3) | 1.0 E-4 mm |
HD6 | 5 | Length of head (distance between G4 and the right-hand joint of the second arm) | 1.0 E-4 mm |
HD7 | 6 | Y offset of tool to G4 | 1.0 E-4 mm |
HD8 | 7 | X offset of tool to G4 | 1.0 E-4 mm |
HD9 | 8 | Z offset of tool to G4 | 1.0 E-4 mm |
HD10 | 9 | Z offset between G4 and G3 | 1.0 E-4 mm |
