Kinematics is used to describe the mechanical structure of robots. The robot axes are mechanically interconnected. The mechanical structure is described by so-called "kinematic transformations". The kinematic transformations are an integral part of the axis groups and can be parameterised by the user. In the device tree of the PLC Designer you will find the new object AxisGroups. It can be used to combine and parameterise the axes relevant for the selected kinematics in axis groups. The following kinematics are supported:
?Axis group
Kinematics
?Scara_3dof
?Horizontal articulated robot with three Cartesian degrees of freedom (X, Y, Z)
?Scara_4dof
?Horizontal articulated robot with four Cartesian degrees of freedom (X, Y, Z, C)
?Scara_4dof
?Spatial articulated robot with forcibly guided horizontal end effector alignment
?Scara_3dof
?Spatial gantry robot with three Cartesian degrees of freedom (X, Y, Z)
