Traversing ranges of connected axes
The following section contains descriptions for parameterising the traversing ranges of connected axes depending of the axis group.
Basic conditions
- Drive axes of the BeltKinematic_2dof axis group must remain Limited since otherwise, the transformation cannot be calculated clearly.
- When a differential gearbox is used, the coupled drive axes must be of the respective Limited axis type.
- 5D and 6D kinematics: For axes groups with more than one orientation axis, the orientation axes A, B and C must be parameterised as Modulo since the ambiguity of the spatial orientation cannot be displayed free of overflow.
- 4D kinematics: If at least one drive axis that influences the end effector orientation is parameterised as Modulo axis, the orientation axis C must be parameterised as Modulo as well (see dependencies in the following table)
- For Modulo axes, the cycle length 360Â units/revolution is permissible only.
- ACS and WCS axes of the axes groups that are only permissible with one parameter setting, are automatically configured in the initialisation phase of the axis group.
The following table lists the permissible combinations of the axis parameter settings.
Legend:
"L": Only Limited permissible
"M": Only Modulo permissible
"L+M": Limited and Modulo permissible
"x": Axis not available
|
axes group |
Drive axes (ACS) |
Main axes (WCS) |
Dependencies |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
A1 |
A2 |
A3 |
A4 |
A5 |
A6 |
X |
Y |
Z |
A |
B |
C |
|
|
Axes groups with 2 degrees of freedom |
|||||||||||||
|
BELTKINEMATIC_2DOF |
L |
L |
x |
x |
x |
x |
L |
x |
L |
x |
x |
x |
None |
|
DELTA2_2DOF |
L+M |
L+M |
x |
x |
x |
x |
L |
x |
L |
x |
x |
x |
None |
|
Portal_2DOF |
L |
L |
x |
x |
x |
x |
L |
x |
L |
x |
x |
x |
None |
|
Axes groups with 3 degrees of freedom |
|||||||||||||
|
DELTA3_3DOF |
L+M |
L+M |
L+M |
x |
x |
x |
L |
L |
L |
x |
x |
x |
None |
|
LINEARDELTA3_3DOF |
L |
L |
L |
x |
x |
x |
L |
L |
L |
x |
x |
x |
None |
|
PORTAL_3DOF |
L |
L |
L |
x |
x |
x |
L |
L |
L |
x |
x |
x |
None |
|
SCARA_3DOF |
L+M |
L+M |
L |
x |
x |
x |
L |
L |
L |
x |
x |
x |
None |
|
Axes groups with 4 degrees of freedom |
|||||||||||||
|
ARTICULATEDP_4DOF |
L+M |
L+M |
L+M |
L+M |
x |
x |
L |
L |
L |
x |
x |
L+M |
If one of the drive axes A1 or A4 is parameterised as Modulo, the main axis C must be parameterised as Modulo as well. |
ARTICULATEDPLINA1_4DOF | L | L+M | L+M | L+M | x | x | L | L | L | x | x | L+M | If the drive axis A4 is parameterised as Modulo, the main axis C must be parameterised as Modulo as well. |
DELTA3_4DOF | L+M | L+M | L+M | L+M | x | x | L | L | L | x | x | L+M | If the drive axis A4 is parameterised as Modulo, the main axis C must be parameterised as Modulo as well. |
LINEARDELTA3_4DOF | L | L | L | L+M | x | x | L | L | L | x | x | L+M | If the drive axis A4 is parameterised as Modulo, the main axis C must be parameterised as Modulo as well. |
PORTAL_4DOF | L | L | L | L+M | x | x | L | L | L | x | x | L+M | If the drive axis A4 is parameterised as Modulo, the main axis C must be parameterised as Modulo as well. |
SCARA_4DOF | L+M | L+M | L | L+M | x | x | L | L | L | x | x | L+M | If one the drive axes A1, A2 or A4 is parameterised as Modulo, the main axis C must be parameterised as Modulo as well. Modulo. |
Axes group with 5 degrees of freedom | |||||||||||||
DELTA3_5DOF | L+M | L+M | L+M | L+M | L+M | x | L | L | L | x | M | M | None |
PORTAL_AC_5DOF | L | L | L | L+M | L+M | x | L | L | L | x | M | M | None |
|
Note!
Coupled ACS axes must be of Limited axis type if differential gearboxes are used (traversing range parameter (subindex 30 of the respective axis)). |