Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
67
With this type of kinematics, the conveyor tracking function (see Motion sequence at path
object (Page 69)) does not serve any useful purpose.
Table 2- 2 Configuration data for swivel arm kinematics
typeOfKinematics:SWIVEL ARM Swivel 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 kinematics zero point relative to
the Cartesian zero point, Y coordinate
basicOffset.z Offset of the kinematics 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
linkCompensationA4.enableA1A4 Compensate A1 articulated joint positioning
dependence to A4
linkCompensationA4.factorA1A4 Factor
linkCompensationA2.enableA4A2 Compensate A4 articulated joint positioning
dependence to A2
linkCompensationA2.factorA4A2 Factor
distanceA1Endpoint A1 - end point distance
offsetA1 Angle offset at rotary joint A1
2.13.3.11 Use of virtual axes
The path object must be interconnected with at least two axes (first and second path axis). If
you want to create a kinematic system that does not correspond to one of the available
kinematics, you must create and interconnect a virtual axis for the non-present axis.
As an example: The articulated arm kinematics provides three axes.
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