Siemens SIMOTION

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
65
Table 2- 1 Configuration data for 2-axis articulated arm kinematics
typeOfKinematics:ARTICULATED_ARM_2D 2axis articulated arm kinematics type of
kinematics
basicOffset.x Offset of the kinematic zero point relative to
the Cartesian zero point, x coordinate
basicOffset.y Offset of the kinematic zero point relative to
the Cartesian zero point, y coordinate
basicOffset.z Offset of the kinematic zero point relative to
the Cartesian zero point, z coordinate
basicOffset.roll Offset axis zero of X axis
basicOffset.pitch Offset axis zero of Y axis
basicOffset.yaw Offset axis zero of Z axis
Config2D Main plane of the path axes
linkCompensationA2.enableA1A2 Compensate A1 articulated joint positioning
dependence to A2
linkCompensationA2.factorA1A2 Factor
distanceA1A2 A1-A2 distance
offsetA1 Angle offset
offsetA2 Angle offset
2.13.3.10 Swivel arm kinematics
Swivel arm kinematics
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Figure 2-54 Display of the axes
Swivel arm
In swivel arm kinetics, programming settings are made on the lateral surface that can be
accessed by the kinematics.