Siemens SIMOTION

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
64 Function Manual, 11/2010
Possible link constellations
LinkConstellation 1 Angle of axis A3 in the range of [0°, 180°) relative
to the kinematic zero point
Angle of axis A1 corresponds to atan(EPy/EPx)
2 Angle of axis A3 in the range of [-180°, 0°) relative
to the kinematic zero point
Angle of axis A1 corresponds to atan(EPy/EPx)
3 Angle of axis A3 in the range of [0°, 180°) relative
to the kinematic zero point
Angle of axis A1 corresponds to –atan(EPy/EPx)
4 Angle of axis A3 in the range of [-180°, 0°) relative
to the kinematic zero point
Angle of axis A1 corresponds to –atan(EPy/EPx)
2.13.3.9 2axis articulated arm kinematics
2axis articulated arm kinematics
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Figure 2-53 Display of the axes