BeltKinematic_2dof
The "BeltKinematic_2dof" axle group describes two-dimensional belt kinematics as shown below:
Degrees of freedom (dof)
Location of the MCS
- Identical direction of rotation (positive axis direction) of the drives defines the negative direction of the x-axis
- Opposite direction of rotation (positive direction of rotation A1, negative direction of rotation A2) defines the positive direction of the z-axis.
- The origin of the MCS is at the position of the end effector for A1 = 0 and A2 = 0.
Location of the TCS
- x TCS and x MCS are parallel.
- z TCS is orientated in the opposite direction to z MCS .
Zero setting of the drives
In the zero position, the origin of the TCS and the origin of the MCS are congruent.
Parameters
A complete list of all kinematics-independent parameters can be found in the section
Brief overview of all parameters
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Feed constant in units/revolution
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
mm |
2147483647 |
0 mm |
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FLOAT_64 |
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The feed constant corresponds to the effective circumference of the drive gears and can be roughly determined from the distance "B" between the horizontal belts:
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