Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
59
The zero positions of the A1 axis and A2 axis are as follows:
RIIVHW$
RIIVHW$
$RIIVHWKDVDQHJDWLYH
YDOXHLQWKLVFDVH
=HURVHWWLQJRIWKH
NLQHPDWLF
.LQHPDWLF]HURSRLQW
$D[LV
$D[LV
[
\
Figure 2-46 SCARA: Zero positions
The domain of the single A
1
and A
2
axes is limited to [-180°; 180°).
Link compensations
A
1
A
2
EP
d
A1A2
d
x,y,z
A
4
d
A2EP
AP
A
3
x+
y+
z+
]D[LV
OLIWLQJD[LV
(QGSRLQW
&DUWHVLDQ]HUR
SRLQW
.LQHPDWLF
]HURSRLQW
Figure 2-47 SCARA: Kinematics with link compensation
Coupled axes
Mechanical couplings can exist:
● Between A
1
and A
2
● Between A
1
, A
2
and A
synchronous
(A
4
)
● Between A
synchronous
(A
4
) and A
3
If a positive coupling factor between two axes is specified, the transformation assumes that a
positive motion on the first axes leads to a negative motion on the second axis.
The following axis couplings can be compensated via the system:
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