Kin_5Axes (FB)ΒΆ

FUNCTION_BLOCK Kin_5Axes EXTENDS Kin_Coupled

Transformation FB for 5-axes-gantries. This is a possible way how a coupled kinematic can be realized based on existing kinematics.

The 5-axes transformation enables the controlling of 3 linear axes (X, Y, Z) carrying a tool head, which consists of two axes carrying the tool. The tool head can be turned around the Z-axis and can be tilt according to the scheme aside.

Machine coordinate system (MCS)

Origin

The location of the TCP when the first 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 position 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 = dToolLength

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
../../../../_images/5Axes.png

In zero position, the tool center point (TCP) is located on (0, 0, dToolLength), the tool extends in the direction of the Z axis. Moving the Inclination axis in positive direction moves the tool in the direction of the positive X axis (if dToolLength <> 0).

../../../../_images/5Axes2.png

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)

a3

angle [deg] of the yaw axis (azimuth) (A)

a4

angle [deg] of the roll axis (inclination) (B)
Attributes:
sm_kin_libdoc
InOut:

Scope

Name

Type

Comment

Inherited from

Input

itfPosKin

ISMPositionKinematics

Kin_Coupled

itfOriKin

ISMOrientationKinematics

Kin_Coupled

dToolLength

LREAL

Length of tool measured from the TCP to the point of intersection between the two axes (yaw/roll).

Properties:

NumAxes, inherited from Kin_Coupled

Methods:

GetKinematicsName

Initialize

ActivateAutomaticRotaryPeriods, inherited from Kin_Coupled

AxesToCartesian, inherited from Kin_Coupled

AxisSettings, inherited from Kin_Coupled

CPConnectible, inherited from Kin_Coupled

CartesianToAxes, inherited from Kin_Coupled

GetAxisMapping, inherited from Kin_Coupled

GetAxisMapping2, inherited from Kin_Coupled

GetAxisProperties, inherited from Kin_Coupled

GetConfigurationDataSize, inherited from Kin_Coupled

GetDefaultConfigurationData, inherited from Kin_Coupled

GetFlangeOrientationImageTotal, inherited from Kin_Coupled

GetFlangeOrientationImageWithOri, inherited from Kin_Coupled

GetPeriods, inherited from Kin_Coupled

GetPosAndToolKinematics, inherited from Kin_Coupled

IsConfigSingular, inherited from Kin_Coupled

IsInitialized, inherited from Kin_Coupled

IsSingularity, inherited from Kin_Coupled

JoinAxes, inherited from Kin_Coupled

JoinConfig, inherited from Kin_Coupled

SplitAxes, inherited from Kin_Coupled

SplitConfig, inherited from Kin_Coupled

Structure: