Kin_Polar (FB)

FUNCTION_BLOCK Kin_Polar IMPLEMENTS ISMPositionKinematicsInternal,

ISMKinematicWithInfo2

Transformation FB for polar kinematics.

A Polar Systems consists of one distance and one direction axis.

Machine coordinate system (MCS)

Origin

Location of the TCP when the position value of the linear axis (a1) is 0.

X

The X axis is defined so that a positive velocity of the linear axis (a1) while the rotary axis (a0) is at 0° leads to a movement purely along the X axis in positive direction.

Y

The Y axis is defined so that a positive velocity of the linear axis (a1) while the rotary axis (a0) is at 90° leads to a movement purely along the Y axis in positive direction.
../../../../_images/Polar.png

Relative to the machine coordinate system, the tool coordinate system is shifted and rotated around the Z axis by the current position of axis a0.

../../../../_images/Polar_different_construction.png

The single axes values have the following interpretation:

a0

position of the rotary axis around Z in degrees. referred to as ‘C’ in the section ‘mapping to axes’ .

a1

position of the linear axis in the direction of X axis (>= 0). referred to as ‘R’ in the section ‘mapping to axes’.

Note

  • This position kinematics does not support orientation mode “Axis” for CP movements.

  • If this kinematics is used without an orientation-kinematics, then it is not compatible with tools (see SMC_GroupSetTool) that have a position offset in a direction other than the Z direction.

Attributes:
sm_kin_libdoc

Properties:

Methods:

Structure: