Siemens SIMOTION

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
58 Function Manual, 11/2010
2.13.3.7 SCARA kinematics
Figure 2-44 SCARA: Representation of the axis system
A
3
A
1
A
2
EP
d
x,y,z
d
A1A2
d
A2EP
x+
y+
z+
(QGSRLQW
&DUWHVLDQ
]HURSRLQW
.LQHPDWLF
]HURSRLQW
Figure 2-45 SCARA: Kinematics
The kinematic zero point lies in point A
1
.