Kin_Gantry3 (FB)ΒΆ

FUNCTION_BLOCK Kin_Gantry3 IMPLEMENTS ISMPositionKinematics_Offset,

ISMPositionKinematicsInternal, ISMKinematicWithInfo2

Transformation FB for a 3-axis gantry. In a gantry system, the machine coordinates correspond directly to the positions of the axes.

Machine coordinate system (MCS)

Origin

The location of the TCP when the position values of all three axes are 0.

X

Corresponds directly to the direction of the first axis (a0), i.e. a positive velocity on the first axis leads to a movement in positive X direction in the MCS.

Y

Corresponds directly to the direction of the second axis (a1), i.e. a positive velocity on the second axis leads to a movement in positive Y direction in the MCS.

Z

Corresponds directly to the direction of the third axis (a2), i.e. a positive velocity on the third axis leads to a movement in positive Z direction in the MCS.

The location of the tool coordinate system (TCS) relative to the MCS in zero position:

Tool coordinate system (TCS)

Origin

Relative to MCS:

dX = 0

dY = 0

dZ = 0

X

Along the X-Axis of the MCS in positive direction

Y

Along the Y-Axis of the MCS in positive direction

Z

Along the Z-Axis of the MCS in positive direction

One may think of x and y as the width and length of a box and take z as the height of the box. The interior of this box is referred to as the working envelope of the gantry robot.

The single axes values have the following interpretation:

a0

position of the x axis of the machine (X)

a1

position of the y axis of the machine (Y)

a2

position of the z axis of the machine (Z)
Attributes:
sm_kin_libdoc

Properties:

Methods:

Structure: