Kin_Polar (FB)¶
- FUNCTION_BLOCK Kin_Polar IMPLEMENTS ISMPositionKinematicsInternal,
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. | 
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 | 
 
 
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: