Siemens SIMOTION

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
51
2.13.3.3 Cartesian 2D/3D gantries
[
\
]
$
$
$
basicOffset
.LQHPDWLFHQGSRLQW
&DUWHVLDQ]HURSRLQW
Figure 2-36 Kinematics example: 2D/3D gantry
Configuration data for Cartesian kinematics
typeOfKinematics:
CARTESIAN
Cartesian gantry kinematic type
BasicOffset.x Offset of the zero point of Cartesian coordinate x relative to
the zero point of axis coordinate A
1
BasicOffset.y Offset of the zero point of Cartesian coordinate y relative to
the zero point of axis coordinate A
2
BasicOffset.z Offset of the zero point of Cartesian coordinate z relative to
the zero point of axis coordinate A
3
cartesianKinematicsType Select 2D or 3D (determines the number of axes involved)
config2D Main plane (only for 2D gantry)
Possible link constellations
linkConstellation Irrelevant (always 1)