Kin_HGantry2 (FB)

FUNCTION_BLOCK Kin_HGantry2 IMPLEMENTS ISMPositionKinematics_Offset,

ISMPositionKinematicsInternal, ISMKinematicWithInfo2

Transformation FB for a 2-axis H gantry.

The kinematics configuration is similar to that described in Kin_Gantry2. However, the drives are mounted stationary. They move the y-axis rail and slider by means of a drive belt on the perimeter of the frame. (see picture aside; belt in pink).

Machine coordinate system (MCS)

Origin

Location of the TCP when the position values of both axes are 0.

X

The X axis is defined so that a positive velocity on the first axis (a0) together with a negative velocity of the same amount on the second axis (a1), leads to a movement purely along the X axis in positive direction.

Y

The Y axis is defined so that negative velocities of the same amount on both axes, lead to a movement purely along the Y axis in positive direction.

../../../../_images/HGantry.png

The transformation is adequate for the following axes configurations (other configurations can be reached by interchanging A and B):

../../../../_images/HGantry_Config1.png ../../../../_images/HGantry_Config2.png

The orientation of the tool coordinate system equals the one of the machine coordinate system.

The single axes values have the following interpretation:

a0

position of the 1st axis of the machine (A)

a1

position of the 2nd axis of the machine (B)

Attributes:
sm_kin_libdoc

Properties:

Methods:

Structure: