Siemens SIMOTION

Appendix A
A.1 Specific kinematics with TrafoID 1001
TO Path Interpolation
138 Function Manual, 11/2010
Table A- 1 Kinematics parameter
Parameter Use Unit Type Min. Max
Kinematics.parameter[1] basicOffsetX e.g. mm LREAL -1E+012 1E+012
Kinematics.parameter[2] basicOffsetY e.g. mm LREAL -1E+012 1E+012
Kinematics.parameter[3] Reserved
Kinematics.parameter[4] ratioA1 e.g. mm/° LREAL -1E+012 1E+012
Kinematics.parameter[5] length1 e.g. mm LREAL 0 1E+012
Kinematics.parameter[6] length2 e.g. mm LREAL 0 1E+012
Kinematics.parameter[7] distanceE1 e.g. mm LREAL -1E+012 1E+012
Kinematics.parameter[8] verticalPosition2
lower / upper
0: lower,
≠0: upper
LREAL -1E+012 1E+012
Kinematics.parameter[9] offsetA2 e.g. LREAL -1E+012 1E+012
Kinematics reference
The position of the TCP/ end point depends on the orientation (see Traversing range
section) of rod 2. If the lower orientation is selected (as in the kinematics reference diagram),
the position of the TCP/ EP can be determined as follows if the kinematics are in a neutral
position:
EDVLF2IIVHW;;
< OHQJWKOHQJWKGLVWDQFH(EDVLF2IIVHW<

(3BERWWRP
(3BERWWRP
If the upper orientation is selected:
EDVLF2IIVHW;;
< OHQJWKOHQJWKGLVWDQFH(EDVLF2IIVHW<

(3BWRS
(3BWRS
\
[
(
$ 
$ 

EDVLF2IIVHW
7&3HQGSRLQW
UDWLR$
HJUDQJHr
.LQHPDWLFV]HURSRLQW

&DUWHVLDQ]HURSRLQW
7KHNLQHPDWLFV]HURSRLQWLV$ 
$ DQGZKHQRIIVHWKRUL]RQWDOO\E\
(LVDWWKHKHLJKWRI$

Figure A-2 Kinematics reference