Adding and configuring technology objects
5.2 Configuring the kinematics technology object
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
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5.2 Configuring the kinematics technology object
Basic parameters
Configure the basic properties of the kinematics technology object in the "Basic Parameters"
configuration window.
1. Select the Kinematics type "Cylindrical robot 3D" from the drop-down list.
2. In the drop-down list, select the desired units of measure for the position, velocity, angle
and angular velocity of the kinematics.
Interconnections
Configure the axes of kinematics in the "Interconnections" configuration window.
1. Interconnect the kinematics axes as follows:
– Kinematics axis A1: "AxisA1"
– Kinematics axis A2: "AxisA2"
– Kinematics axis A3: "AxisA3"
Geometry
Configure the geometric parameters of kinematics in the "Geometry" configuration window.
1. Enter the transformation parameters of the kinematics in these fields:
– Length L1: 2000 mm
– Length L2: 400 mm
– Flange length LF: 200 mm
2. In these fields, define the scaling in which the kinematics is displayed in the kinematics
trace:
– z minimum: 0 mm
– z maximum: 3000 mm
– A3 maximum: 3500 mm
Dynamics
In the example project, the default values are used for the dynamics, the dynamics limits and
the dynamic adaptation of the kinematics motion.
If you want to set certain default values for the Kinematics motion, configure them in the
"Dynamics" configuration window.
When dynamic adaptation is active, a velocity profile is calculated for the entire motion which
takes into account the dynamic limits of the axes and the kinematics. In this example project,
the default values for the dynamic limits of the connected axes are used. If you want to set
certain default values for the dynamic limits of the interconnected axes, configure them
under "Technology object > Configuration > Extended parameters > Limits > Dynamic limits".
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