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Overview

One of the most important tasks in robotics is moving a tool (for example, a tool plate or a welding gun) along a predefined path. To do this, CODESYS SoftMotion Robotics calculates how the individual joints of the robot need to move so that the tip of the tool – the Tool Center Point (TCP) – follows the commanded path with the desired orientation. Kinematics or kinematic transformation is fundamental to this calculation. It implements the conversion from joint positions to TCP position and TCP orientation, and vice versa.

  • The calculation rule differs depending on the type of robot being used. CODESYS SoftMotion Robotics includes configurable kinematics for numerous standard robots.

    For more information, see: Kinematics Included in CODESYS SoftMotion

  • The kinematics are divided into positioning and orientation kinematics which can be combined.

    For more information, see: Combination of Position and Orientation Kinematics

  • A tool offset can be configured which can be changed at runtime.

    For more information, see: Configuring a Tool Offset

  • Endlessly rotating modulo axes are supported for rotary joints.

    For more information, see: Rotary Joints and Modulo Axes

  • For special robot types whose calculation rule cannot be mapped by one of the supplied kinematics, you can implement your own kinematics in the form of a function block.

    For more information, see: Creating Custom Kinematics

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