Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
57
● When x
ZP
= y
ZP
= z
ZP
= 0, the zero position of the kinematics lies in the center between
drive axes A
1
and A
3
.
● The end point of the transformation is defined with its coordinates x
EP
, y
EP
and z
EP
centrally between G
4
to G
6
.
Configuration data for Delta 3D picker kinematics
typeOfKinematics:
DELTA_3D_PICKER
Delta 3D picker kinematics type
basicOffset Offset of the kinematic zero point (ZP) relative to a
Cartesian zero point
basicOffset.x Portion of offset in coordinate direction X
basicOffset.y Portion of offset in coordinate direction Y
basicOffset.z Portion of offset in coordinate direction Z
length1 Length of the upper arm segment
length2 Length of the lower arm segment
distanceD1 Distance of the A
1
to A
3
drive axes from the kinematic
zero point (ZP)
distanceD2 Distance of the G
4
to G
6
articulations from the end point
(EP)
offsetA1 Offset of the drive axis A
1
offsetA2 Offset of the drive axis A
2
offsetA3 Offset of the drive axis A
3
angleArm1ToX Angle offset of arm A
1
-G
1
-G
4
from the X axis during
rotation at the positive Z axis
angleArm2ToArm1 Angle offset of arm A
2
-G
2
-G
5
from arm A
1
-G
1
-G
4
during
rotation at the positive Z axis
angleArm3ToArm1 Angle offset of arm A
3
-G
3
-G
6
from arm A
1
-G
1
-G
4
during
rotation at the positive Z axis
Possible link constellations
LinkConstellation Irrelevant (always 1)

Siemens SIMOTION Specifications

General

Power Supply	24 V DC
Interfaces	PROFIBUS, PROFINET, Ethernet
Product type	Control Unit
Series	SIMOTION D
Display Output	VGA