SIMATIC. S S7-1500T Kinematics Functions V4.0 in TIA Portal V15. Preface. Documentation guide 1. Introduction 2. Basics. Version overview 4

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2 Preface Documentation guide 1 SIMATIC S S7-1500T Kinematics Functions V4.0 in TIA Portal V15 Function Manual Introduction 2 Basics 3 Version overview 4 Configuring 5 Programming 6 Commissioning 7 Diagnostics 8 Instructions 9 A Appendix TIA Portal V15 12/2017 A5E AA

3 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: Trademarks WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. All names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Division Digital Factory Postfach NÜRNBERG GERMANY A5E AA P 11/2017 Subject to change Copyright Siemens AG All rights reserved

4 Preface Purpose of the documentation This documentation provides important information that you need to configure and commission the integrated Motion Control functionality of the S Automation systems. Required basic knowledge In order to understand this documentation, the following knowledge is required: General knowledge in the field of automation General knowledge in the field of drive engineering and motion control Validity of the documentation This documentation is valid for the S product range. Conventions For the path settings in the project navigation it is presumed that the "Technology objects" object is opened in the CPU subtree. The "Technology object" placeholder represents the name of the technology object. Example: "Technology object > Configuration > Basic parameters". The <TO> placeholder represents the name set in tags for the respective technology object. Example: <TO>.Actor.Type This documentation contains pictures of the devices described. The pictures may differ in minor details from the devices supplied. You should also observe the notes that are marked as follows: Note A note contains important information about the product described in the documentation, about the handling of the product, and about sections in this documentation demanding your particular attention. 4 Function Manual, 12/2017, A5E AA

5 Preface Further support The range of technical documentation for the individual SIMATIC products and systems is available on the Internet ( The online catalog and the online ordering system is available on the Internet ( Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens' products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit ( Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customers' exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed under ( Function Manual, 12/2017, A5E AA 5

6 Table of contents Preface Documentation guide Introduction Interplay of the various documents Kinematics systems for handling tasks Term definition Functions Basics Kinematics technology object Interconnection rules Configuration limits for kinematics systems Measuring units Modulo setting Coordinate systems and frames Overview of coordinate systems and frames Frames Tags of coordinate systems and frames Kinematics Brief description of kinematics types Legend for display of the kinematics Cartesian portal Portal 2D Portal 2D with orientation Portal 3D Portal 3D with orientation Portal tags Roller picker Roller picker 2D Roller picker 2D with orientation Roller picker 3D (vertical) Roller picker 3D with orientation (vertical) Roller picker 3D with orientation (horizontal) Roller picker tags SCARA SCARA 3D with orientation SCARA tags Function Manual, 12/2017, A5E AA

7 Table of contents Articulated arm Articulated arm 2D Articulated arm 2D with orientation Articulated arm 3D Articulated arm 3D with orientation Articulated arm tags Delta picker Delta picker 2D Delta picker 2D with orientation Delta picker 3D Delta picker 3D with orientation Permissible joint position for delta picker Delta picker tags Cylindrical robot Cylindrical robot 3D Cylindrical robot 3D with orientation Cyclic robot tags Tripod Tripod 3D Tripod 3D with orientation Tags of tripod User-defined kinematics systems Overview of user-defined kinematics systems Tags of user-defined kinematics systems Kinematics transformation Brief description of the kinematics transformation Transformation for predefined kinematics systems Reference points Traversing range and transformation area Joint position spaces (kinematics-dependent) Singular positions Mechanical couplings (kinematics-dependent) Transformation for user-defined kinematics systems User transformation MC-Transformation [OB98] Program example for user transformation Tags of kinematics transformation Kinematics motions Brief description of kinematics motions Motion types Linear motion Circular motion Motion dynamics Dynamics of kinematics motion and orientation motion Override Tags of motion control and dynamics Function Manual, 12/2017, A5E AA 7

8 Table of contents 3.10 Zone monitoring Brief description of zone monitoring Workspace zones Kinematics zones Zone geometry Tags for zone monitoring Version overview Configuring Adding a kinematics technology object Configuring the kinematics technology object Configuration - Basic Parameters Configuration - Interconnections Configuration - Geometry Configuration - Geometry (Cartesian portal) Configuration - Geometry (roller picker) Configuration - Geometry (SCARA) Configuration - Geometry (articulated arm) Configuration - Geometry (delta picker) Configuration - Geometry (cylindrical robot) Configuration - Geometry (tripod) Configuration - Geometry (user-defined) Extended parameters Configuration - Dynamics Configuration - Kinematics coordinate system Configuration - Object coordinate systems Configuration- Tools Configuration - Zones Copying a kinematics technology object Deleting a kinematics technology object Toolbar of the configuration Programming Introduction to the programming of the kinematics motions Job sequence Motion status and remaining distance Interrupting, continuing and stopping kinematics motions Motion preparation using multiple jobs Connection of multiple kinematics motions with geometric transitions Dynamic behavior when motions are appended/blended Interaction of kinematics motions and single axis motions Function Manual, 12/2017, A5E AA

9 Table of contents 7 Commissioning Function and structure of the kinematics control panel Using the kinematics control panel Kinematics trace Brief description of kinematics trace D visualization Record and play traces Configuration Importing and exporting recordings Diagnostics Introduction to diagnostics Kinematics technology object Status and error bits Status of the motion Zones and tools Instructions Kinematics motions MC_GroupInterrupt V MC_GroupInterrupt: Interrupt motion execution V MC_GroupContinue V MC_GroupContinue: Continue execution of motion V MC_GroupContinue: Function chart V MC_GroupStop V MC_GroupStop: Stop motion V MC_GroupStop: Function chart V MC_MoveLinearAbsolute V MC_MoveLinearAbsolute: Position kinematics with linear motion V MC_MoveLinearAbsolute: Function chart V MC_MoveLinearRelative V MC_MoveLinearRelative: Relative positioning of kinematics with linear motion V MC_MoveLinearRelative: Function chart V MC_MoveCircularAbsolute V MC_MoveCircularAbsolute: Position kinematics with circular path motion V MC_MoveCircularAbsolute: Function chart V MC_MoveCircularRelative V MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion V MC_MoveCircularRelative: Function chart V Zones MC_DefineWorkspaceZone V MC_DefineWorkspaceZone: Defining workspace zone V MC_DefineKinematicsZone V MC_DefineKinematicsZone: Defining kinematics zone V MC_SetWorkspaceZoneActive V MC_SetWorkspaceZoneActive: Activating workspace zone V MC_SetWorkspaceZoneInactive V MC_SetWorkspaceZoneInactive: Deactivating workspace zone V Function Manual, 12/2017, A5E AA 9

10 Table of contents MC_SetKinematicsZoneActive V MC_SetKinematicsZoneActive: Activating kinematics zone V MC_SetKinematicsZoneInactive V MC_SetKinematicsZoneInactive: Deactivating kinematics zone V Tools MC_DefineTool V MC_DefineTool: Redefine tool V MC_SetTool V MC_SetTool: Change active tool V Coordinate systems MC_SetOcsFrame V MC_SetOcsFrame: Redefining object coordinate systems V Override response of Motion Control jobs V Override response V4: Kinematics motion commands A Appendix A.1 Tags of the kinematics technology object A.1.1 Legend A.1.2 Tag Tcp (kinematics) A.1.3 Tag Kinematics (kinematics) A.1.4 Tag KcsFrame (kinematics) A.1.5 Tag OcsFrame (kinematics) A.1.6 Tag Tool (kinematics) A.1.7 Tag DynamicDefaults (kinematics) A.1.8 Tag DynamicLimits (kinematics) A.1.9 Tag MotionQueue (kinematics) A.1.10 Tag Override (kinematics) A.1.11 Tag WorkspaceZone (kinematics) A.1.12 Tag KinematicsZone (kinematics) A.1.13 Tag StatusPath (kinematics) A.1.14 Tag TcpInWcs (kinematics) A.1.15 Tag TcpInOcs (kinematics) A.1.16 Tag StatusOcsFrame (kinematics) A.1.17 Tag StatusKinematics (kinematics) A.1.18 Tag FlangeInKcs (kinematics) A.1.19 Tag StatusTool (kinematics) A.1.20 Tag StatusWorkspaceZone (kinematics) A.1.21 Tag StatusKinematicsZone (kinematics) A.1.22 Tag StatusZoneMonitoring (kinematics) A.1.23 Tag StatusMotionQueue (kinematics) A.1.24 Tag KinematicsAxis (kinematics) A.1.25 Tag Units (kinematics) A.1.26 Tag StatusWord (kinematics) A.1.27 Tag ErrorWord (kinematics) A.1.28 Tag ErrorDetail (kinematics) A.1.29 Tag WarningWord (kinematics) A.1.30 Tag ControlPanel (kinematics) Function Manual, 12/2017, A5E AA

11 Table of contents A.2 Technology alarms A.2.1 Overview A.2.2 Technology alarms A.2.3 Technology alarms A.2.4 Technology alarms A.2.5 Technology alarms A.2.6 Technology alarms A.3 Error ID (kinematics) Index Function Manual, 12/2017, A5E AA 11

12 Documentation guide 1 The documentation for the SIMATIC S automation system and the SIMATIC ET 200MP distributed I/O system is arranged into three areas. This arrangement enables you to access the specific content you require. Basic information The System Manual and Getting Started describe in detail the configuration, installation, wiring and commissioning of the SIMATIC S and ET 200MP systems. The STEP 7 online help supports you in the configuration and programming. Device information Product manuals contain a compact description of the module-specific information, such as properties, wiring diagrams, characteristics and technical specifications. General information The function manuals contain detailed descriptions on general topics regarding the SIMATIC S and ET 200MP systems, e.g. diagnostics, communication, motion control, Web server, OPC UA. You can download the documentation free of charge from the Internet ( Changes and supplements to the manuals are documented in a Product Information. You can download the product information free of charge from the Internet ( 12 Function Manual, 12/2017, A5E AA

13 Documentation guide Manual Collection S7-1500/ET 200MP The Manual Collection contains the complete documentation on the SIMATIC S automation system and the ET 200MP distributed I/O system gathered together in one file. You can find the Manual Collection on the Internet ( SIMATIC S comparison list for programming languages The comparison list contains an overview of which instructions and functions you can use for which controller families. You can find the comparison list on the Internet ( "mysupport" With "mysupport", your personal workspace, you make the best out of your Industry Online Support. In "mysupport", you can save filters, favorites and tags, request CAx data and compile your personal library in the Documentation area. In addition, your data is already filled out in support requests and you can get an overview of your current requests at any time. You must register once to use the full functionality of "mysupport". You can find "mysupport" on the Internet ( "mysupport" - Documentation In the Documentation area in "mysupport" you can combine entire manuals or only parts of these to your own manual. You can export the manual as PDF file or in a format that can be edited later. You can find "mysupport" - Documentation on the Internet ( "mysupport" - CAx data In the CAx data area in "mysupport", you can access the current product data for your CAx or CAe system. You configure your own download package with a few clicks. In doing so you can select: Product images, 2D dimension drawings, 3D models, internal circuit diagrams, EPLAN macro files Manuals, characteristics, operating manuals, certificates Product master data You can find "mysupport" - CAx data on the Internet ( Function Manual, 12/2017, A5E AA 13

14 Documentation guide Application examples The application examples support you with various tools and examples for solving your automation tasks. Solutions are shown in interplay with multiple components in the system - separated from the focus on individual products. You will find the application examples on the Internet ( TIA Selection Tool With the TIA Selection Tool, you can select, configure and order devices for Totally Integrated Automation (TIA). This tool is the successor of the SIMATIC Selection Tool and combines the known configurators for automation technology into one tool. With the TIA Selection Tool, you can generate a complete order list from your product selection or product configuration. You can find the TIA Selection Tool on the Internet ( SIMATIC Automation Tool You can use the SIMATIC Automation Tool to perform commissioning and maintenance activities simultaneously on various SIMATIC S7 stations as a bulk operation independent of the TIA Portal. General function overview: Network browsing and creation of a table showing the accessible devices in the network. Flashing of device LEDs or HMI display to locate a device Downloading of addresses (IP, subnet, gateway) to a device Downloading the PROFINET name (station name) to a device Placing a CPU in RUN or STOP mode Setting the time in a CPU to the current time of your PG/PC Downloading a new program to a CPU or an HMI device Downloading from CPU, downloading to CPU or deleting recipe data from a CPU Downloading from CPU or deleting data log data from a CPU Backup/restore of data from/to a backup file for CPUs and HMI devices Downloading service data from a CPU Reading the diagnostics buffer of a CPU Performing a CPU memory reset Resetting devices to factory settings Downloading a firmware update to a device You can find the SIMATIC Automation Tool on the Internet ( 14 Function Manual, 12/2017, A5E AA

15 Documentation guide PRONETA With SIEMENS PRONETA (PROFINET network analysis), you analyze the PROFINET network during commissioning. PRONETA features two core functions: The topology overview independently scans PROFINET network and all connected components. The IO check is a fast test of the wiring and the module configuration of a system. You can find SIEMENS PRONETA on the Internet ( SINETPLAN SINETPLAN, the Siemens Network Planner, supports you in planning automation systems and networks based on PROFINET. The tool facilitates professional and predictive dimensioning of your PROFINET installation as early as in the planning stage. In addition, SINETPLAN supports you during network optimization and helps you to exploit network resources optimally and to plan reserves. This helps to prevent problems in commissioning or failures during productive operation even in advance of a planned operation. This increases the availability of the production plant and helps improve operational safety. The advantages at a glance Network optimization thanks to port-specific calculation of the network load Increased production availability thanks to online scan and verification of existing systems Transparency before commissioning through importing and simulation of existing STEP 7 projects Efficiency through securing existing investments in the long term and optimal exploitation of resources You can find SINETPLAN on the Internet ( Function Manual, 12/2017, A5E AA 15

16 Introduction Interplay of the various documents For a better overview, the documentation of the Motion Control functions is divided into the following documents: Using S7-1500T Motion Control Using S7-1500T Kinematics Functions "Using S Motion Control" describes the Motion Control functions for the following technology objects: Speed axis Positioning axis Synchronous axis External encoder Measuring input Output cam Cam track Cam (S7-1500T) "Using S7-1500T Kinematics Functions" describes the Motion Control functions for the kinematics technology object. This document assumes that the Motion Control functions described in "Using S Motion Control functions" are known. See also Function Manual "S7-1500T Motion Control V4.0 in the TIA Portal V15" ( 16 Function Manual, 12/2017, A5E AA

17 Introduction 2.2 Kinematics systems for handling tasks 2.2 Kinematics systems for handling tasks Kinematics are user-programmable mechanical systems in which multiple mechanically coupled axes produce the motion of a working point. The S7-1500T technology CPUs provide functions for controlling kinematics systems, e.g. for handling tasks, with the kinematics technology object. Typical applications include: Pick & Place Installation Palletizing The kinematics control panel and extensive online and diagnostic functions support straightforward commissioning of kinematics systems. The kinematics technology object is fully integrated in the system diagnostics of the S CPU. 2.3 Term definition Kinematics Kinematics are user-programmable mechanical systems in which multiple mechanically coupled axes produce the motion of a working point. Kinematics axes Kinematics axes are the axes of the kinematics motion. You connect each kinematics axis with a positioning axis/synchronous axis technology object. Kinematics zero point (KZP) The coordinate origin of the kinematics coordinate system (KCS) is the KZP. You configure the geometry parameters of the kinematics starting from the KZP. Zero point of the flange coordinate system (FNP) The coordinate origin of the flange coordinate system (FCS) is the FNP. Starting from the FNP, you define, for example, the flange zones of the kinematics. Tool center point (TCP) The coordinate origin of the tool coordinate system (TCS) is the tool center point or TCP. The TCP is the operating point of the kinematics. Function Manual, 12/2017, A5E AA 17

18 Introduction 2.3 Term definition Degrees of freedom of kinematics The degrees of freedom of kinematics are the dimensions in which the tool can move. 2D kinematics systems move the tool in the xz plane and thus have two translational degrees of freedom. 3D kinematics systems move the tool in xyz space and thus have three translational degrees of freedom. The optional orientation of the tool is a further degree of freedom (rotation of the tool around the z-axis). Machine coordinate system (MCS) The MCS contains the position data of the interconnected kinematics axes and thus combines up to four one-dimensional systems in one system. Job sequence The job sequence of the kinematics technology object is the memory to which motion-related Motion Control jobs are entered as pending, inactive jobs. All jobs in the job sequence are taken into account during the motion preparation. AxesGroup Kinematics-related Motion Control instructions have the input parameter "AxesGroup". The kinematics technology object groups the interconnected kinematics axes. Therefore, you can assign the kinematics technology object directly to the input parameter "AxesGroup". 18 Function Manual, 12/2017, A5E AA

19 Introduction 2.4 Functions 2.4 Functions You execute the functions of the kinematics technology object using the Motion Control instructions in your user program or the TIA Portal (under "Technology object > Commissioning"). The following table shows the functions that are supported by the technology object: Function "MC_GroupInterrupt (Page 204)" "MC_GroupContinue (Page 206)" "MC_GroupStop (Page 209)" "MC_MoveLinearAbsolute (Page 212)" "MC_MoveLinearRelative (Page 218)" "MC_MoveCircularAbsolute (Page 223)" "MC_MoveCircularRelative (Page 231)" "MC_DefineWorkspaceZone (Page 239)" "MC_DefineKinematicsZone (Page 242)" "MC_SetWorkspaceZoneActive (Page 245)" "MC_SetWorkspaceZoneInactive (Page 247)" "MC_SetKinematicsZoneActive (Page 249)" "MC_SetKinematicsZoneInactive (Page 251)" "MC_DefineTool (Page 253)" "MC_SetTool (Page 255)" "MC_SetOcsFrame (Page 257)" "Kinematics control panel (Page 181)" Brief description Motion Control instructions (user program) Interrupt execution of motion Continue execution of motion Stop motion Position kinematics with linear path motion Relative positioning of kinematics with linear path motion Position kinematics with circular path motion Relative positioning of kinematics with circular path motion Define workspace zone Define kinematics zone Activate workspace zone Deactivate workspace zone Activate kinematics zone Deactivate kinematics zone Re-define tool Change active tool Redefine object coordinate systems TIA Portal Homing of kinematics axes and traversing of kinematics systems or individual kinematics axes via the TIA Portal Function Manual, 12/2017, A5E AA 19

20 Basics Kinematics technology object The kinematics technology object calculates motion setpoints for the tool center point (TCP) of the kinematics taking into account the dynamic settings. The kinematics technology object calculates the motion setpoints for the individual axes of the kinematics and vice versa from the current values of the axes using the kinematics transformation. The kinematics technology object outputs the axis-specific motion setpoints to the interconnected positioning axes. The kinematics technology object provides the kinematics transformation (Page 116) for the predefined kinematics types on the system level. In the case of user-defined kinematics systems, you must provide the user transformation (Page 122) in a separate program. You create the individual axes of the kinematics in the TIA Portal as "Positioning axis" or "Synchronous axis" technology objects. When you configure the kinematics technology object, you interconnect the axes in accordance with the configured kinematics type. You can find an overview of the functions of the kinematics technology object in the "Functions" (Page 19) section. 20 Function Manual, 12/2017, A5E AA

21 Basics 3.1 Kinematics technology object The graphic below shows the basic principle of operation of the kinematics technology object: Function Manual, 12/2017, A5E AA 21

22 Basics 3.2 Interconnection rules 3.2 Interconnection rules You can interconnect a kinematics technology object with positioning axes and synchronous axes. There must be a clear reference between the kinematics technology object and the interconnected axes. You cannot use a second kinematics technology object with already interconnected axes. No provision is made for changing the interconnection of the axes during operation. Virtual axis/simulation You can also interconnect the kinematics technology object with axes in simulation and with virtual axes. 3.3 Configuration limits for kinematics systems Motion Control resources Each CPU offers a defined set of "Motion Control resources". For information on the total Motion Control resources available, refer to the technical specifications of the utilized CPU. You can find an overview of the Motion Control resources of a CPU in the TIA Portal under "Tools > Resources". Extended Motion Control resources (S7-1500T) In addition to the Motion Control resources of the interconnected axes, a kinematics technology object utilizes 30 "Extended Motion Control resources". For information on the maximum number of usable kinematics systems, refer to the technical specifications of the utilized CPU. You can find the technical specifications of the S7-15xxT CPUs in the respective manual. Application cycle As the number of technology objects used increases, the computing time needed by the CPU to process the technology objects increases. The Motion Control application cycle can be adapted according to the number of technology objects used. 22 Function Manual, 12/2017, A5E AA

23 Basics 3.4 Measuring units 3.4 Measuring units The kinematics technology object supports the following units of measure for position and velocity of linear axes: Position nm, μm, mm, m, km in, ft, mi Velocity mm/s, mm/min, mm/h, m/s, m/min, m/h, km/min, km/h in/s, in/min, ft/s, ft/min, mi/h The kinematics technology object supports the following units of measure for angle and angular velocity of rotary axes: Angle Angular velocity, rad /s, /min, rad/s, rad/min The acceleration is set accordingly as the position/s² (angle/s²) unit of measure. The jerk is set accordingly as the position/s³ (angle/s³) unit of measure. Note When setting or changing the units of measure, take into consideration the effect on the display of parameter values and the user program: Display of parameter values in the technology data block Assignment of parameters in the user program Input and display of the position and velocity in the TIA Portal Setpoint settings by leading axes in synchronous operation All information and displays are shown according to the selected unit of measure. The set units are displayed in the tag structure of the <TO>.Units technology object. The tag structure is described in the Appendix (Page 284). Function Manual, 12/2017, A5E AA 23

24 Basics 3.5 Modulo setting Measuring units of the axes and the kinematics technology object The technology objects always transfer values without units of measure. For example, if you set [mm] for an axis and [m] for the kinematics technology object, the kinematics technology object miscalculates the position values of the linear axis in [m]. If, in this example, the kinematics technology object outputs a setpoint for a one-meter motion, the axis only moves by one millimeter. The kinematics technology object outputs linear and rotary setpoints to the interconnected axes according to the kinematics type. The kinematics technology object does not check the axis type of the interconnected axis (linear or rotary). When configuring the units of measure, take into consideration the following specifications: Configure the interconnected technology objects as linear or rotary axes according to the kinematics type. Configure the same linear/rotary units of measure for the axes interconnected according to the kinematics type as for the kinematics technology object. 3.5 Modulo setting The kinematics technology object itself has no modulo setting. When you interconnect axes with active modulo setting to the kinematics technology object, the module range of the axes must cover at least the traversing range of the kinematics. The zero position of the axis must match the zero position of the kinematics axis. With the exception of the orientation axis, the module range of the axes cannot be changed during a kinematics motion. The modulo setting is typically used for the orientation axis. In the case of the orientation axis (axis A4 in the kinematics), the kinematics transformation covers the entire traversing range of the axis. The orientation axis traverses without limitations through an activated modulo setting. An angle greater than 360 can be defined for the Cartesian orientation. A relative motion traverses this angle. An absolute motion maps this angle in the range from 0 to 360. The range -180 to +180 is generally defined for the coordinate A of the tool center point (TCP). 24 Function Manual, 12/2017, A5E AA

25 Basics 3.6 Coordinate systems and frames 3.6 Coordinate systems and frames Overview of coordinate systems and frames A handling task involves many objects, e.g. kinematics systems, tools, pallets and products. You describe these objects and their relative positions with coordinate systems and frames. The kinematics technology object calculates all motions for the tool center point (TCP). Frames Frames specify the shift and rotation of one coordinate system relative to another coordinate system. Coordinate systems The kinematics technology object uses the following right-handed Cartesian coordinate systems according to DIN 66217: World coordinate system (WCS) Kinematics coordinate system (KCS) Flange coordinate system (FCS) Tool coordinate system (TCS) Object coordinate systems (OCS) Function Manual, 12/2017, A5E AA 25

26 Basics 3.6 Coordinate systems and frames The following graphic shows the relative position of the coordinate systems using a workspace example: WCS KCS FCS TCS TCP OCS Control cabinet Conveyor belt Slide World coordinate system Kinematics coordinate system Flange coordinate system (FCS) Tool coordinate system Tool center point Object coordinate system World coordinate system (WCS) The WCS is the fixed coordinate system of the environment or workspace of the kinematics. The zero point of the WCS is the reference point for objects and motions on the kinematics technology object. Starting from the zero point of the WCS (e.g. corner of a workspace), you define the position of the objects using frames. Kinematics coordinate system (KCS) The KCS is connected to the kinematics. The position of the KCS within the kinematics is specified for each predefined kinematics type. The coordinate origin of the KCS is the kinematics zero point (KZP). You configure the geometry parameters of the kinematics starting from the KZP. You configure the position of the KCS in the WCS using the KCS frame. 26 Function Manual, 12/2017, A5E AA

27 Basics 3.6 Coordinate systems and frames Flange coordinate system (FCS) The FCS is attached to the tool adapter (flange) of the kinematics. As a result, the position of the FCS changes with kinematics motions. The position of the FCS in the zero position of the kinematics results from the configuration of the geometry parameters of the kinematics. The kinematics technology object calculates the transformation frame from the geometry parameters. The transformation frame describes the position of the FCS in the KCS. The z axis of the FCS always points in the negative z direction of the KCS. The following graphic shows the positions of the FCS and KCS and the transformation frame using the "Cylindrical robot" kinematics example: 1 2 Transformation frame KCS frame Function Manual, 12/2017, A5E AA 27

28 Basics 3.6 Coordinate systems and frames Tool coordinate system (TCS - Tool Coordinate System) and tool center point (TCP - Tool Center Point) The TCS is attached to the FCS and defines the tool center point (TCP) in the coordinate origin. The TCP is the operating point of the tool. The kinematics motions always refer to the TCP (with reference to WCS/OCS). You define the position of the TCS in the FCS using a tool frame. The z axis of the TCS always points in the negative z direction of the KCS. You can define tool frames for up to three tools, of which only one tool and therefore one tool frame is active at the same time. The following graphic shows the position of the TCS and the TCP in the workspace: 1 Tool frame 28 Function Manual, 12/2017, A5E AA

29 Basics 3.6 Coordinate systems and frames Object coordinate system (OCS) The OCS is a user-defined coordinate system. With an OCS, for example, you define the position of a pallet in the workspace. You define the position of the OCS in the WCS with an OCS frame. You can define up to three OCS frames which are active at the same time. 1 OCS frame Function Manual, 12/2017, A5E AA 29

30 Basics 3.6 Coordinate systems and frames Frames The following table shows the frames for the kinematics technology object: Frame KCS frame Transformation frame Tool frame OCS[1..3]-frame Target position Description Position of the kinematics coordinate system (KCS) in the world coordinate system (WCS) Position of the flange coordinate system (FCS) in the KCS The transformation frame results from the kinematics transformation and is displayed in the "<TO>.FlangeInKcs" tag of the technology object. Position of the tool coordinate system (TCS) in the FCS Position of the object coordinate systems 1 to 3 (OCS[1..3]) in the WCS Target position for a kinematics motion Frame definition Frames define the shift and rotation of one coordinate system relative to another coordinate system with the following values: Value in the frame x y z A B C Description Shift in the x direction in the reference coordinate system Shift in the y direction in the reference coordinate system Shift in the z direction in the reference coordinate system Rotation around the z-axis Rotation around the y-axis Rotation around the x-axis 30 Function Manual, 12/2017, A5E AA

31 Basics 3.6 Coordinate systems and frames The following table shows the restrictions for frames depending on the kinematics type. The information "x", "y" and "z" means that a shift in the respective direction is possible. The information "A", "B" and "C" means that a rotation in the respective direction is possible. The information "= 0.0" means that a shift or rotation in the respective direction is not permitted or not relevant for the kinematics type. Kinematics type KCS frame/ocs frame Tool frame Target position 2D Shift Rotation Shift Rotation Shift Rotation x A = 0.0 x A = 0.0 x A = 0.0 y = 0.0 B y = 0.0 B = 0.0 y = 0.0 B = 0.0 z C = 0.0 z C = 0.0 z C = 0.0 2D with orientation Shift Rotation Shift Rotation Shift Rotation x A = 0.0 x = 0.0 A x A y = 0.0 B = 0.0 y = 0.0 B = 0.0 y = 0.0 B = 0.0 z C = 0.0 z C = 0.0 z C = 0.0 3D Shift Rotation Shift Rotation Shift Rotation x A x A = 0.0 x A = 0.0 y B y B = 0.0 y B = 0.0 z C z C = 0.0 z C = 0.0 3D with orientation Shift Rotation Shift Rotation Shift Rotation x A x A x A y B = 0.0 y B = 0.0 y B = 0.0 z C = 0.0 z C = 0.0 z C = 0.0 x, y, z, A, B, C: Shift/rotation possible Value = 0.0: Shift/rotation not permitted or not relevant Function Manual, 12/2017, A5E AA 31

32 Basics 3.6 Coordinate systems and frames The following table shows the value ranges for the rotations of KCS, OCS and tool frames depending on the kinematics type: Kinematics type Value ranges KCS frame/ocs frame Tool frame 2D A 0.0 A 0.0 B to C D with orientation A 0.0 A to B C D A to A 0.0 B to C to D with orientation A to A to B C Value = 0.0: Rotation not permitted No information (-): Parameter not available 32 Function Manual, 12/2017, A5E AA

33 Basics 3.6 Coordinate systems and frames Tags of coordinate systems and frames The following tags of the kinematics technology object are relevant for coordinate systems and frames: Tag Configuration <TO>.KcsFrame <TO>.OcsFrame[1..3] <TO>.Tool[1..3] Status values <TO>.Tcp <TO>.TcpInWcs <TO>.TcpInOcs[1..3] <TO>.FlangeInKcs <TO>.StatusOcsFrame Description KCS frame x, y, z, A, B, C OCS frame x, y, z, A, B, C Tool frame x, y, z, A Target point of a kinematics motion in the world coordinate system x, y, z, A Current tool frame (with dynamics) in the world coordinate system (setpoint reference) x, y, z, A Current tool frame (with dynamics) in an object coordinate system (setpoint reference) x, y, z, A Current FCS frame (with dynamics, setpoint reference) x, y, z, A Display of the OCS frames x, y, z, A, B, C Function Manual, 12/2017, A5E AA 33

34 Basics 3.7 Kinematics 3.7 Kinematics Brief description of kinematics types The type of the mechanical system and the number of the axes determine the kinematics type. The mechanically coupled axes produce the motion of the tool center point (TCP). Depending on the kinematics type, you configure the kinematics using appropriate geometry parameters. The kinematics technology object supports the following kinematics types: Category Kinematics type Predefined kinematics systems Cartesian portal (Page 36) Cartesian portal 2D Cartesian portal 2D with orientation Cartesian portal 3D Cartesian portal 3D with orientation Roller picker (Page 47) Roller picker 2D Roller picker 2D with orientation Roller picker 3D (vertical) Roller picker 3D with orientation (vertical) Roller picker 3D with orientation (horizontal) SCARA (Page 62) SCARA 3D with orientation Articulated arm (Page 68) Articulated arm 2D Articulated arm 2D with orientation Articulated arm 3D Articulated arm 3D with orientation Delta picker (Page 85) Delta picker 2D Delta picker 2D with orientation Delta picker 3D Delta picker 3D with orientation Cylindrical robot (Page 97) Cylindrical robot 3D Cylindrical robot 3D with orientation Tripod (Page 107) Tripod 3D Tripod 3D with orientation User-defined kinematics systems User-defined kinematics User-defined 2D systems (Page 115) User-defined 2D with orientation User-defined 3D User-defined 3D with orientation 34 Function Manual, 12/2017, A5E AA

35 Basics 3.7 Kinematics Legend for display of the kinematics The following table shows the graphic elements and symbols which are used to display the kinematics: Graphic element Meaning Basis of kinematics Kinematics arm Kinematics deflected from zero position Active rotary axis Passive joint Axis guide Active linear axis Rotary axis on the tool adapter (orientation axis) Tool adapter Tool (gripper) Coordinate axis set up out of the mapping plane Coordinate axis set up into the mapping plane Color x axis Color y axis Color z axis Function Manual, 12/2017, A5E AA 35

36 Basics 3.7 Kinematics Cartesian portal Portal 2D The kinematics "Portal 2D" supports two axes and two degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of two orthogonal, linear axes A1 and A2. The axes enclose a rectangular working range. 36 Function Manual, 12/2017, A5E AA

37 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view: The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A1: Distance of the FCS to the KZP in x direction of the KCS L2 At zero position of the axis A2: LF Distance of the FCS to the KZP and flange length LF in z direction of the KCS Flange length before the FCS in the z direction of the KCS Deflection of the kinematics x1 z1 Deflection of the axis A1 in the positive x direction Deflection of the axis A2 in the positive z direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located at distance LF from the zero position of the axis A2. The position 0.0 on the respective interconnected technology object defines the zero positions of the axes A1 and A2 in the KCS. You define the distances of the zero positions of the axes in relation to the kinematics zero point using lengths L1 and L2. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes. Function Manual, 12/2017, A5E AA 37

38 Basics 3.7 Kinematics Portal 2D with orientation The kinematics "Portal 2D with orientation" supports three axes and three degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: Two orthogonal linear axes A1 and A2 One rotary axis A4 (orientation axis) The linear axes enclose a rectangular working area. The orientation axis A4 enables rotation of the tool. 38 Function Manual, 12/2017, A5E AA

39 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view: The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A1: Distance of the FCS to the kinematics zero point (KZP) in x direction of the KCS L2 At zero position of the axis A2: LF Distance of the FCS to the KZP and flange length LF in z direction of the KCS Flange length before the FCS in the z direction of the KCS Deflection of the kinematics x1 z1 Deflection of the axis A1 in the positive x direction Deflection of the axis A2 in the positive z direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located at distance LF from the zero position of the axis A2. The position 0.0 on the respective interconnected technology object defines the zero positions of the axes A1 and A2 in the KCS. You define the distances of the zero positions of the axes A1 and A2 to the kinematics zero point with lengths L1 and L2. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Function Manual, 12/2017, A5E AA 39

40 Basics 3.7 Kinematics Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes Portal 3D The kinematics "Portal 3D with orientation" supports three axes and three degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of three orthogonal, linear axes A1, A2 and A3. The linear axes enclose a rectangular working area. 40 Function Manual, 12/2017, A5E AA

41 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the axes A1 and A3 is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A1: Distance of the FCS to the kinematics zero point (KZP) in x direction of the KCS L3 At zero position of the axis A3: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS Deflection of the kinematics x1 z1 Deflection of the axis A1 in the positive x direction Deflection of the axis A3 in the positive z direction Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 41

42 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the axes A1 and A2 is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A1: Distance of the FCS to the KZP in x direction of the KCS L2 At zero position of the axis A2: Distance of the FCS to the KZP in y direction of the KCS Deflection of the kinematics x1 y1 Deflection of the axis A1 in the positive x direction Deflection of the axis A2 in negative y direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located at distance LF from the zero position of the axis A2. The position 0.0 on the respective interconnected technology object defines the zero positions of the axes A1, A2 and A3 in the KCS. You define the distances of the zero positions of the axes to the kinematics zero point with lengths L1, L2 and L3. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes. 42 Function Manual, 12/2017, A5E AA

43 Basics 3.7 Kinematics Portal 3D with orientation The kinematics "Portal 3D with orientation" supports four axes and four degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: Three orthogonal linear axes A1, A2 and A3 One rotary axis A4 (orientation axis) The linear axes enclose a rectangular working area. The orientation axis A4 enables rotation of the tool. Function Manual, 12/2017, A5E AA 43

44 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the axes A1 and A3 is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A1: Distance of the FCS to the kinematics zero point (KZP) in x direction of the KCS L3 At zero position of the axis A3: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS Deflection of the kinematics x1 z1 Deflection of the axis A1 in the positive x direction Deflection of the axis A3 in the positive z direction Legend for display of the kinematics (Page 35) 44 Function Manual, 12/2017, A5E AA

45 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the axes A1 and A2 is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A1: Distance of the FCS to the KZP in x direction of the KCS L2 At zero position of the axis A2: Distance of the FCS to the KZP in y direction of the KCS Deflection of the kinematics x1 y1 Deflection of the axis A1 in the positive x direction Deflection of the axis A2 in negative y direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located at distance LF from the zero position of the axis A2. The position 0.0 on the respective interconnected technology object defines the zero positions of the axes A1, A2 and A3 in the KCS. You define the distances of the zero positions of the axes A1, A2 and A3 to the kinematics zero point with lengths L1, L2 and L3. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes. Function Manual, 12/2017, A5E AA 45

46 Basics 3.7 Kinematics Portal tags Portal 2D You define the 2D portal kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 1 Portal 2D 2 Portal 2D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the zero position of the axis A1 to the kinematics zero point (KZP) in x direction of the kinematics coordinate system (KCS) <TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A2 in the negative z direction of the KCS <TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance L2 of the zero position of the axis A2 to the KZP in z direction of the KCS Portal 3D You define the 3D portal kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 3 Portal 3D 4 Portal 3D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the zero position of the axis A1 to the KZP in z direction of the KCS <TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 of the zero position of the axis A2 to the KZP in y direction of the KCS <TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A3 in the negative z direction of the KCS <TO>.Kinematics.Parameter[4] -1.0E12 to 1.0E12 Distance L3 of the zero position of the axis A3 to the KZP in z direction of the KCS See also Tags of the kinematics technology object (Page 261) 46 Function Manual, 12/2017, A5E AA

47 Basics 3.7 Kinematics Roller picker Roller picker 2D The kinematics "Roller picker 2D" supports two axes and two degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of two rotary axes A1 and A2 and a system of guide rollers. If both axes A1 and A2 rotate in the same direction, the flange moves horizontally in the x direction of the KCS. If both axes A1 and A2 rotate in opposite directions, the flange moves vertically in the z direction of the KCS. The kinematics enables a rectangular working area. Function Manual, 12/2017, A5E AA 47

48 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view: The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L2 With zero position of the axes A1 and A2: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS R1 Cam radius for axis A1 R2 Cam radius for axis A2 Deflection of the kinematics x1 z1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive z direction Legend for display of the kinematics (Page 35) 48 Function Manual, 12/2017, A5E AA

49 Basics 3.7 Kinematics The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located between axes A1 and A2. The position 0.0 on the respective interconnected technology object defines the zero position of the axes A1 and A2. You define the position of the FCS for zero position of the axes A1 and A2 using distances L1 and L2. You shift the FCS in the negative z direction of the KCS using length LF. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes Roller picker 2D with orientation The kinematics "Roller picker 2D with orientation" supports three axes and three degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of a system made up of guide rollers and the following axes: Two rotary axes A1 and A2 A rotational axis A4 (orientation axis) with rotation around z in the KCS If both axes A1 and A2 rotate in the same direction, the flange moves horizontally in the x direction of the KCS. If both axes A1 and A2 rotate in opposite directions, the flange moves vertically in the z direction of the KCS. The kinematics enables a rectangular working area. The orientation axis A4 enables rotation of the tool. Function Manual, 12/2017, A5E AA 49

50 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view: The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L2 With zero position of the axes A1 and A2: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS R1 Cam radius for axis A1 R2 Cam radius for axis A2 Deflection of the kinematics x1 z1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive z direction Legend for display of the kinematics (Page 35) 50 Function Manual, 12/2017, A5E AA

51 Basics 3.7 Kinematics The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located between axes A1 and A2. The position 0.0 on the respective interconnected technology object defines the zero position of the axes A1 and A2. You define the position of the FCS for zero position of the axes A1 and A2 using lengths L1 and L2. You shift the FCS in the negative z direction of the KCS using length LF. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes Roller picker 3D (vertical) The kinematics "Roller picker 3D (vertical)" supports three axes and three degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of a system made up of guide rollers and the following axes: Two rotary axes A1 and A2 A linear axis A3 in y direction of the KCS If both axes A1 and A2 rotate in the same direction, the flange moves horizontally in the x direction of the KCS. If both axes A1 and A2 rotate in opposite directions, the flange moves vertically in the z direction of the KCS. The linear portal axis A3 moves the system of guide rollers horizontally in y direction of the KCS. The kinematics enables a cuboid working area. Function Manual, 12/2017, A5E AA 51

52 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L3 With zero position of the axes A1 and A2: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS R1 Cam radius for axis A1 R2 Cam radius for axis A2 Deflection of the kinematics x1 z1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive z direction Legend for display of the kinematics (Page 35) 52 Function Manual, 12/2017, A5E AA

53 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L2 At zero position of the axis A3: R1 R2 Distance of the FCS to the KZP in y direction of the KCS Cam radius for axis A1 Cam radius for axis A2 Deflection of the kinematics x1 y1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive y direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located between axes A1 and A2. The position 0.0 on the respective interconnected technology object defines the zero position of the axes A1 and A2 and the zero position of the axis A3 in the KCS. You define the distance of the zero position of the axis A3 to the KZP in y direction of the KCS using length L2. You define the position of the FCS for zero position of the axes A1 and A2 using lengths L1 and L3. You shift the FCS in the negative z direction of the KCS using length LF. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes. Function Manual, 12/2017, A5E AA 53

54 Basics 3.7 Kinematics Roller picker 3D with orientation (vertical) The kinematics "Roller picker 3D with orientation (vertical)" supports four axes and four degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of a system made up of guide rollers and the following axes: Two rotary axes A1 and A2 A linear axis A3 in y direction of the KCS A rotational axis A4 (orientation axis) with rotation around z in the KCS If both axes A1 and A2 rotate in the same direction, the flange moves horizontally in the x direction of the KCS. If both axes A1 and A2 rotate in opposite directions, the flange moves vertically in the z direction of the KCS. The linear portal axis A3 moves the system of guide rollers horizontally in y direction of the KCS. The kinematics enables a cuboid working area. The orientation axis A4 enables rotation of the tool. 54 Function Manual, 12/2017, A5E AA

55 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L3 With zero position of the axes A1 and A2: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS R1 Cam radius for axis A1 R2 Cam radius for axis A2 Deflection of the kinematics x1 z1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive z direction Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 55

56 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L2 At zero position of the axis A3: R1 R2 Distance of the FCS to the KZP in y direction of the KCS Cam radius for axis A1 Cam radius for axis A2 Deflection of the kinematics x1 y1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive y direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located between axes A1 and A2. The position 0.0 on the respective interconnected technology object defines the zero position of the axes A1 and A2 and the zero position of the axis A3 in the KCS. You define the distance of the zero position of the axis A3 to the KZP in y direction of the KCS using length L2. You define the position of the FCS for zero position of the axes A1 and A2 using lengths L1 and L3. You shift the FCS in the negative z direction of the KCS using length LF. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes. 56 Function Manual, 12/2017, A5E AA

57 Basics 3.7 Kinematics Roller picker 3D with orientation (horizontal) The kinematics "Roller picker 3D with orientation (horizontal)" supports four axes and four degrees of freedom. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of a system made up of guide rollers and the following axes: Two rotary axes A1 and A2 A linear axis A3 in z direction of the KCS A rotational axis A4 (orientation axis) with rotation around z in the KCS If both axes A1 and A2 rotate in the same direction, the flange moves horizontally in the x direction of the KCS. If both axes A1 and A2 rotate in opposite directions, the flange moves horizontally in the y direction of the KCS. The linear portal axis A3 moves the system of guide rollers vertically in z direction of the KCS. The kinematics enables a cuboid working area. The orientation axis A4 enables rotation of the tool. Function Manual, 12/2017, A5E AA 57

58 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L3 At zero position of the axis A3: Distance of the FCS to the KZP and flange length LF in z direction of the KCS LF Flange length before the FCS in the z direction of the KCS R1 Cam radius for axis A1 R2 Cam radius for axis A2 Deflection of the kinematics x1 z1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive z direction Legend for display of the kinematics (Page 35) 58 Function Manual, 12/2017, A5E AA

59 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 With zero position of the axes A1 and A2: Distance of the FCS to the KZP in x direction of the KCS L2 With zero position of the axes A1 and A2: R1 R2 Distance of the FCS to the KZP in y direction of the KCS Cam radius for axis A1 Cam radius for axis A2 Deflection of the kinematics x1 y1 Deflection of the kinematics in the positive x direction Deflection of the kinematics in the positive y direction Legend for display of the kinematics (Page 35) The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located between axes A1 and A2. The position 0.0 on the respective interconnected technology object defines the zero position of the axes A1 and A2 and the zero position of the axis A3 in the KCS. You define the distance of the zero position of the axis A3 to the KZP in y direction of the KCS using length L2. You define the position of the FCS for zero position of the axes A1 and A2 using lengths L1 and L3. You shift the FCS in the negative z direction of the KCS using length LF. Function Manual, 12/2017, A5E AA 59

60 Basics 3.7 Kinematics Transformation area The kinematics transformation covers the entire traversing range (Page 118) of the axes Roller picker tags Roller picker 2D You define the 2D delta picker kinematics systems using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 5 Roller picker 2D 6 Roller picker 2D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 With zero position of the axes A1 and A2: <TO>.Kinematics.Parameter[2] to 1.0E12 Cam radius R1 for axis 1 <TO>.Kinematics.Parameter[3] to 1.0E12 Cam radius R2 for axis 2 Distance L1 of the FCS to the KZP in x direction of the kinematics coordinate system (KCS) <TO>.Kinematics.Parameter[4] -1.0E12 to 1.0E12 Flange length LF before the flange coordinate system (FCS) in the negative z direction of the KCS <TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 With zero position of the axes A1 and A2: Distance L2 of the FCS to the KZP in z direction of the KCS 60 Function Manual, 12/2017, A5E AA

61 Basics 3.7 Kinematics Roller picker 3D You define the 3D roller picker kinematics systems using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 7 Roller picker 3D (vertical) 8 Roller picker 3D with orientation (vertical) 9 Roller picker 3D with orientation (horizontal) <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 With zero position of the axes A1 and A2: <TO>.Kinematics.Parameter[2] to 1.0E12 Cam radius R1 for axis 1 <TO>.Kinematics.Parameter[3] to 1.0E12 Cam radius R2 for axis 2 Distance L1 of the FCS to the KZP in x direction of the KCS <TO>.Kinematics.Parameter[4] -1.0E12 to 1.0E12 Flange length LF before the FCS in the negative z direction of the KCS <TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Roller picker vertical Roller picker horizontal <TO>.Kinematics.Parameter[6] -1.0E12 to 1.0E12 Roller picker vertical Roller picker horizontal Distance L2 of the zero position of the axis A3 to the KZP in y direction of the KCS With zero position of the axes A1 and A2: Distance L2 of the FCS to the kinematics zero point (KZP) in y direction of the KCS With zero position of the axes A1 and A2: Distance L3 of the FCS to the KZP in z direction of the KCS Distance L3 of the zero position of the axis A3 to the KZP in z direction of the KCS Function Manual, 12/2017, A5E AA 61

62 Basics 3.7 Kinematics SCARA SCARA 3D with orientation The kinematics "SCARA (Selective Compliance Assembly Robot Arm) 3D with orientation" supports four axes and four degrees of freedom. The axes are configured as serial kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with rotation around the z axis of the kinematics coordinate system (KCS) A rotary axis A2 at distance L2 to A1 with rotation around z of the KCS A linear axis A3 at distance L3 to A2 with motion in z direction of the KCS A rotational axis A4 (orientation axis) with rotation around z in the KCS The kinematics consists of a base and two levers for horizontal alignment, which are connected by revolute joints (axis A1 and A2). A linear axis (axis A3) is fastened to the end of the articulated arm for the vertical alignment. The tool is fastened to the end of the linear axis. The orientation axis A4 enables the rotary motion of the tool. 62 Function Manual, 12/2017, A5E AA

63 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics Zero position of the kinematics L1 Distance of the axis A1 to the KZP in z direction of the KCS L2 Distance of the axis A2 to the axis A1 in x direction of the KCS L3 Distance of the axis A3 to the axis A2 in x direction of the KCS LF Distance of the FCS to the axis A2 in z direction of the FCS Deflection of the kinematics z1 Deflection of the axis A3 in the positive direction Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 63

64 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) Zero position of the kinematics Deflection of the kinematics in the positive direction when α1 = 30.0 with positive joint position when α2 = 75.0 Deflection of the kinematics in the negative direction when α1 = with negative joint position when α2 = α1 Deflection of the axis A1 in positive direction when α1 = 30.0 Deflection of the axis A1 in negative direction when α1 = α2 The deflection of the axis A2 in the positive direction when α2 = 75.0 produces a positive joint position. The deflection of the axis A2 in negative direction when α2 = produces a negative joint position. Legend for display of the kinematics (Page 35) 64 Function Manual, 12/2017, A5E AA

65 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. The flange coordinate system (FCS) is located at the end of the axis A3. The following table shows the zero position of the axes: Axis A1 and A2 A3 A4 Zero position The kinematics is elongated in the xkcs direction. The FCS is located at distance L1-LF from the KCS in z direction. At the zero position of axis A1 and A2, the x axis of the FCS points in the direction of the x axis of the KCS. Compensation of mechanical axis couplings You can configure the following mechanical coupled axes for the kinematics: Mechanical coupling of axis A1 to axis A2 Mechanical coupling of axis A4 to axis A3 The kinematics transformation compensates for the configured mechanical axis couplings. With a coupling factor > 0.0, the kinematics transformation assumes that a positive motion of the axis A1 leads to a negative motion on the axis A2. The axis coupling between axis A4 and axis A3 is implemented as a leadscrew pitch. With a coupling factor of 1.0, on axis A4 corresponds to a distance of -1.0 mm on axis A3. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α Axis A2: α Axis A3: No limiting Axis A4: No limiting An angle greater than 360 can be defined for the orientation. But coordinate A of the tool center point (TCP) is mapped in the range -180 to Note Singular positions The kinematics have singular positions (Page 121). A singular position occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of the kinematics coordinate system (KCS). Inverse transformation is not possible in this area. This position may result, e.g. in the event of suspended installation if the lengths L2 and L3 are the same size. Function Manual, 12/2017, A5E AA 65

66 Basics 3.7 Kinematics The graphic below shows examples of a movement in the direction of the singular joint position: Permissible joint position Invalid joint position for transformation with L2 = L3 66 Function Manual, 12/2017, A5E AA

67 Basics 3.7 Kinematics SCARA tags You define the SCARA kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 25 SCARA 3D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance of the axis A1 from the kinematics zero point in z direction of the kinematics coordinate system (KCS) <TO>.Kinematics.Parameter[2] to 1.0E12 Distance L2 of the axis A2 from the axis A1 in x direction of the KCS <TO>.Kinematics.Parameter[3] - Mechanical axis coupling of axis A1 to axis A2 present/not present 0 Not present 1 Present <TO>.Kinematics.Parameter[4] -1.0E12 to 1.0E12 Mechanical axis coupling factor of axis A1 to axis A2 <TO>.Kinematics.Parameter[5] to 1.0E12 Distance L3 of the axis A3 from the axis A2 in x direction of the KCS <TO>.Kinematics.Parameter[6] - Mechanical axis coupling of axis A4 to axis A3 present/not present 0 Not present 1 Present <TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Mechanical axis coupling factor of axis A4 to axis A3 <TO>.Kinematics.Parameter[8] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A2 in the negative z direction of the KCS Function Manual, 12/2017, A5E AA 67

68 Basics 3.7 Kinematics Articulated arm Articulated arm 2D The kinematics "Articulated arm 2D" supports two axes and two degrees of freedom. The axes are configured as serial kinematics with forced coupling of the flange system. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with the distances L1 in z direction of the KCS and L2 in x direction of the KCS to the kinematics zero point A rotary axis A2 at distance L3 to axis A1 The kinematics consists of a base and articulated arms, which are connected by revolute joints (axes A1, A2). The axes A1 and A2 move the articulated arm vertically. Through a forced coupling between the axis A2 and the flange system, the z axis of the FCS always points in the negative z direction of the KCS. 68 Function Manual, 12/2017, A5E AA

69 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view: The position of the axes and of the forced coupler point The position of coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) 1 Forced coupler point Zero position of the kinematics L1 Distance of the axis A1 to the kinematics zero point (KZP) in z direction of the KCS L2 Distance of the axis A1 to the KZP in x direction of the KCS L3 Distance of the axis A2 to the axis A1 in x direction of the KCS L4 Distance of the forced coupler point to the axis A2 in x direction of the KCS LF Distance of the FCS to the forced coupler point in z direction of the FCS Deflection of the kinematics α1 Positive deflection of the axis A1 when α1 = 45.0 Negative deflection of the axis A1 when α1 = α2 Negative deflection of the axis A2 when α2 = Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 69

70 Basics 3.7 Kinematics The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. You define the position of the axis A1 relative to the KZP using lengths L1 and L2. The axis A2 is located at distance L3 in x direction of the KCS from the axis A1. The flange coordinate system (FCS) is located at the following distances from the axis A2 and the forced coupler point: Distance L4 to the axis A2 in x direction of the KCS Distance LF to the forced coupler point in the negative z direction of the KCS The axis A2 and the flange system are force-coupled. With the force coupling, the z axis of the FCS always points in negative z direction of the KCS. The forced coupler point is located at distance L4 in x direction of the KCS from the axis A2. The following table shows the zero position of the axes: Axis A1 A2 Zero position Length L3 points in x direction of the KCS. At zero position of the axis A1, the length L4 points in x direction of the KCS. Compensation of mechanical axis couplings For the kinematics, you can configure a mechanical axis coupling of axis A1 to axis A2. The kinematics transformation compensates for the configured mechanical axis coupling. With a coupling factor > 0.0, the kinematics transformation assumes that a positive motion of the axis A1 leads to a negative motion on the axis A2. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α1 < Axis A2: α2 < Function Manual, 12/2017, A5E AA

71 Basics 3.7 Kinematics Articulated arm 2D with orientation The kinematics "Articulated arm 2D with orientation" supports three axes and three degrees of freedom. The axes are configured as serial kinematics with forced coupling of the flange system. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with the distances L1 in z direction of the KCS and L2 in x direction of the KCS to the kinematics zero point A rotary axis A2 at distance L3 to axis A1 A rotary axis A4 (orientation axis) at distance L4 in x direction of the KCS from the axis A2 The kinematics consists of a base and articulated arms, which are connected by revolute joints (axes A1, A2). The axes A1 and A2 move the articulated arm vertically. Through a forced coupling between the axis A2 and the flange system, the z axis of the FCS always points in the negative z direction of the KCS. The orientation axis A4 enables rotation of the tool. Function Manual, 12/2017, A5E AA 71

72 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view: The position of the axes and of the forced coupler point The position of coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) 1 Forced coupler point Zero position of the kinematics L1 Distance of the axis A1 to the kinematics zero point (KZP) in z direction of the KCS L2 Distance of the axis A1 to the KZP in x direction of the KCS L3 Distance of the axis A2 to the axis A1 in x direction of the KCS L4 Distance of the forced coupler point to the axis A2 in x direction of the KCS LF Distance of the FCS to the forced coupler point in z direction of the FCS Deflection of the kinematics α1 Positive deflection of the axis A1 when α1 = 45.0 Negative deflection of the axis A1 when α1 = α2 Negative deflection of the axis A2 when α2 = Legend for display of the kinematics (Page 35) 72 Function Manual, 12/2017, A5E AA

73 Basics 3.7 Kinematics The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the base of the kinematics. You define the position of the axis A1 relative to the KZP using lengths L1 and L2. The axis A2 is located at distance L3 in x direction of the KCS from the axis A1. The flange coordinate system (FCS) is located at the following distances from the axis A2 and the forced coupler point: Distance L4 to the axis A2 in x direction of the KCS Distance LF to the forced coupler point in the negative z direction of the KCS The axis A2 and the flange system are force-coupled. With the force coupling, the z axis of the FCS always points in negative z direction of the KCS. The forced coupler point is located at distance L4 in x direction of the KCS from the axis A2. The following table shows the zero position of the axes: Axis A1 A2 A4 Zero position Length L3 points in x direction of the KCS. At zero position of the axis A1, the length L4 points in x direction of the KCS. At the zero position of axis A1 and A2, the x axis of the FCS points in the direction of the x axis of the KCS. Compensation of mechanical axis couplings For the kinematics, you can configure a mechanical axis coupling of axis A1 to axis A2. The kinematics transformation compensates for the configured mechanical axis coupling. With a coupling factor > 0.0, the kinematics transformation assumes that a positive motion of the axis A1 leads to a negative motion on the axis A2. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α1 < Axis A2: α2 < Axis A4: No limiting An angle greater than 360 can be defined for the orientation. But coordinate A of the tool center point (TCP) is mapped in the range -180 to Function Manual, 12/2017, A5E AA 73

74 Basics 3.7 Kinematics Articulated arm 3D The kinematics "Articulated arm 3D" supports three axes and three degrees of freedom. The axes are configured as serial kinematics with forced coupling of the flange system. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with rotation around the z axis of the kinematics coordinate system (KCS) A rotary axis A2 with the distances L1 in z direction of the KCS and L2 in x direction of the KCS to the kinematics zero point A rotary axis A3 at distance L3 to axis A2 The kinematics consists of a base and articulated arms, which are connected by revolute joints (axes A1, A2 and A3). Axis A1 rotates the kinematics horizontally around the base. Axes A2 and A3 move the articulated arm vertically. The kinematics enables an approximately spherical working area. Through a forced coupling between the axis A2 and the flange system, the z axis of the FCS always points in the negative z direction of the KCS. 74 Function Manual, 12/2017, A5E AA

75 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view (xz plane): The position of the axes and of the forced coupler point The position of coordinate systems KCS and FCS The zero position of the axes The positive/negative deflection of the axes A2 and A3 is indicated (dashed) 1 Forced coupler point Zero position of the kinematics L1 Distance of the axis A2 to the kinematics zero point (KZP) in z direction of the KCS L2 Distance of the axis A2 to the KZP in x direction of the KCS L3 Distance of the axis A3 to the axis A2 in x direction of the KCS L4 Distance of the forced coupler point to the axis A3 in x direction of the KCS LF Distance of the FCS to the forced coupler point in z direction of the FCS Deflection of the kinematics α2 Positive deflection of the axis A2 when α2 = 45.0 Negative deflection of the axis A2 when α2 = α3 Negative deflection of the axis A3 when α3 = Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 75

76 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) Zero position of the kinematics Deflection of the kinematics α1 Positive deflection of the axis A1 when α1 = 30.0 Negative deflection of the axis A1 when α1 = Legend for display of the kinematics (Page 35) 76 Function Manual, 12/2017, A5E AA

77 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. You define the position of the axis A2 relative to the KZP using lengths L1 and L2. The axis A3 is located at distance L3 in x direction of the KCS from the axis A2. The flange coordinate system (FCS) is located at the following distances from the axis A3 and the forced coupler point: Distance L4 to the axis A3 in x direction of the KCS Distance LF to the forced coupler point in the negative z direction of the KCS The axis A3 and the flange system are force-coupled. With the force coupling, the z axis of the FCS always points in negative z direction of the KCS. The forced coupler point is located at distance L4 in x direction of the KCS from the axis A3. The following table shows the zero position of the axes: Axis A1 A2 A3 Zero position The articulated arms of the kinematics point in the x direction of the KCS. At zero position of the axis A1, the length L3 points in x direction of the KCS. At zero position of the axes A1 and A2, the length L4 points in x direction of the KCS. Compensation of mechanical axis couplings You can configure a mechanical axis coupling of axis A2 to axis A3 for the kinematics. The kinematics transformation compensates for the configured mechanical axis coupling. With a coupling factor > 0.0, the kinematics transformation assumes that a positive motion of the axis A2 leads to a negative motion on the axis A3. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α1 < Axis A2: α2 < Axis A3: α3 < Note Singular positions The kinematics have singular positions (Page 121). A singular position occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of the kinematics coordinate system (KCS). Inverse transformation is not possible in this area. Function Manual, 12/2017, A5E AA 77

78 Basics 3.7 Kinematics The graphic below shows examples of permissible and impermissible joint positions for the transformation: Permissible joint position Invalid joint position for the transformation 78 Function Manual, 12/2017, A5E AA

79 Basics 3.7 Kinematics Articulated arm 3D with orientation The kinematics "Articulated arm 3D with orientation" supports four axes and four degrees of freedom. The axes are configured as serial kinematics with forced coupling of the flange system. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with rotation around the z axis of the kinematics coordinate system (KCS) A rotary axis A2 with the distances L1 in z direction of the KCS and L2 in x direction of the KCS to the kinematics zero point A rotary axis A3 at distance L3 to axis A2 A rotary axis A4 (orientation axis) at distance L4 in x direction of the KCS from the axis A3 The kinematics consists of a base and articulated arms, which are connected by revolute joints (axes A1, A2 and A3). Axis A1 rotates the kinematics horizontally around the base. Axes A2 and A3 move the articulated arm vertically. The kinematics enables an approximately spherical working area. Through a forced coupling between the axis A2 and the flange system, the z axis of the FCS always points in the negative z direction of the KCS. The orientation axis A4 enables rotation of the tool. Function Manual, 12/2017, A5E AA 79

80 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view (xz plane): The position of the axes and of the forced coupler point The position of coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) 1 Forced coupler point Zero position of the kinematics L1 Distance of the axis A2 to the kinematics zero point (KZP) in z direction of the KCS L2 Distance of the axis A2 to the KZP in x direction of the KCS L3 Distance of the axis A3 to the axis A2 in x direction of the KCS L4 Distance of the forced coupler point to the axis A3 in x direction of the KCS LF Distance of the FCS to the forced coupler point in z direction of the FCS Deflection of the kinematics α2 Positive deflection of the axis A2 when α2 = 45.0 Negative deflection of the axis A2 when α2 = α3 Negative deflection of the axis A3 when α3 = Legend for display of the kinematics (Page 35) 80 Function Manual, 12/2017, A5E AA

81 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes The position of coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) Zero position of the kinematics Deflection of the kinematics α1 Positive deflection of the axis A1 when α1 = 30.0 Negative deflection of the axis A1 when α1 = Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 81

82 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. You define the position of the axis A2 relative to the KZP using lengths L1 and L2. The axis A3 is located at distance L3 in x direction of the KCS from the axis A2. The flange coordinate system (FCS) is located at the following distances from the axis A3 and the forced coupler point: Distance L4 to the axis A3 in x direction of the KCS Distance LF to the forced coupler point in the negative z direction of the KCS The axis A3 and the flange system are force-coupled. With the force coupling, the z axis of the FCS always points in negative z direction of the KCS. The forced coupler point is located at distance L4 in x direction of the KCS from the axis A3. The following table shows the zero position of the axes: Axis A1 A2 A3 A4 Zero position The articulated arms of the kinematics point in the x direction of the KCS. At zero position of the axis A1, the length L3 points in x direction of the KCS. At zero position of the axes A1 and A2, the length L4 points in x direction of the KCS. At zero position of the axes A1, A2 and A3, the x axis of the FCS points in the direction of the x axis of the KCS. Compensation of mechanical axis couplings You can configure a mechanical axis coupling of axis A2 to axis A3 for the kinematics. The kinematics transformation compensates for the configured mechanical axis coupling. With a coupling factor > 0.0, the kinematics transformation assumes that a positive motion of the axis A2 leads to a negative motion on the axis A3. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α1 < Axis A2: α2 < Axis A3: α3 < Axis A4: No limiting An angle greater than 360 can be defined for the orientation. But coordinate A of the tool center point (TCP) is mapped in the range -180 to Note Singular positions The kinematics have singular positions (Page 121). A singular position occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of the kinematics coordinate system (KCS). Inverse transformation is not possible in this area. 82 Function Manual, 12/2017, A5E AA

83 Basics 3.7 Kinematics The graphic below shows examples of permissible and impermissible joint positions for the transformation: Permissible joint position Invalid joint position for the transformation Function Manual, 12/2017, A5E AA 83

84 Basics 3.7 Kinematics Articulated arm tags Articulated arm 2D You define the 2D articulated arm kinematics systems using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 11 Articulated arm 2D 12 Articulated arm 2D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the axis A1 to the kinematics zero point in z direction of the kinematics coordinate system (KCS) <TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 of the axis A1 to the kinematics zero point in x direction of the KCS <TO>.Kinematics.Parameter[3] to 1.0E12 Arm length L3 between the axes A1 and A2 <TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A1 to axis A2 present/not present 0 Not present 1 Present <TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Mechanical axis coupling factor of axis A1 to axis A2 <TO>.Kinematics.Parameter[6] to 1.0E12 Side length L4 between A2 and positive coupling point <TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance LF of the flange coordinate system (FCS) from the forced coupler point in the negative z direction of the KCS Articulated arm 3D You define the 3D articulated arm kinematics systems using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 13 Articulated arm 3D 14 Articulated arm 3D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the axis A2 to the kinematics zero point in z direction of the KCS <TO>.Kinematics.Parameter[2] 0.0 to 1.0E12 Distance L2 of the axis A2 to the kinematics zero point in x direction of the KCS <TO>.Kinematics.Parameter[3] to 1.0E12 Arm length L3 between the axes A2 and A3 <TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A2 to A3 present/ not present 0 Not present 1 Present <TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Mechanical axis coupling factor from axis A2 to axis A3 <TO>.Kinematics.Parameter[6] to 1.0E12 Arm length L4 between the axis A3 and positive coupler point <TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance LF of the FCS from the forced coupler point in the negative z direction of the KCS 84 Function Manual, 12/2017, A5E AA

85 Basics 3.7 Kinematics Delta picker Delta picker 2D The kinematics "Delta picker 2D" supports two axes and two degrees of freedom The axes are configured as parallel kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of two rotary axes A1 and A2. The kinematics is modeled suspended and consists of an upper connecting plate, two upper arms and a lower connecting plate. The axes for moving the arms (axes A1, A2) are fastened to the upper connecting plate. The upper arms and the connecting rods connect the upper and lower connecting plates. The tool is suspended from the lower connecting plate. The parallelogram structures of the connecting rods keep the lower connecting plate parallel to the xy plane of the KCS. Function Manual, 12/2017, A5E AA 85

86 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view: The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The deflection of the kinematics is indicated (dashed) Zero position of the kinematics D1 D2 L1 L2 Distance of the axes from the center of the upper connecting plate (radius of the upper connecting plate) Distance of the hinge points of the connecting rods from the lower connecting plate (radius of the lower connecting plate) Length of the upper arms Length of the connecting rods D1, D2, L1 and L2 are identical for the two arms of the kinematics. LF Flange length before the FCS in the z direction of the KCS Deflection of the kinematics The motion of the axes in the positive direction is the outward rotation of the upper arms. α1 Deflection of the axis A1 in the negative direction when α1 = α2 Deflection of the axis A2 in the positive direction when α2 = 88.0 Legend for display of the kinematics (Page 35) 86 Function Manual, 12/2017, A5E AA

87 Basics 3.7 Kinematics The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the center point of the upper connecting plate. The axes A1 and A2 are at distance D1 from the common center point (kinematics zero point). The flange coordinate system (FCS) is located on the bottom of the lower connecting plate with equal distance D2 to the hinge points of each arm. You shift the FCS in the negative z direction of the KCS using length LF. In the zero position of the axes A1 and A2, the upper arms point in the negative z direction of the KCS. Transformation area Only the outwardly bent joint position (Page 95) is permitted for the arms of the kinematics. You cannot traverse the axes beyond the extended position of the arms Delta picker 2D with orientation The kinematics "Delta picker 2D with orientation" supports three axes and three degrees of freedom. The axes are configured as parallel kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: Two rotary axes A1, A2 One rotary axis A4 (orientation axis) The kinematics is modeled suspended and consists of an upper connecting plate, two upper arms and a lower connecting plate. The axes for moving the arms (axes A1, A2) are fastened to the upper connecting plate. The upper arms and the connecting rods connect the upper and lower connecting plates. The tool is suspended from the lower connecting plate. The parallelogram structures of the connecting rods keep the lower connecting plate parallel to the xy plane of the KCS. The orientation axis A4 enables rotation of the tool. Function Manual, 12/2017, A5E AA 87

88 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the front view: The position of the axes and the coordinate systems KCS and FCS The zero positions of the axes A1 and A4 The deflection of the kinematics is indicated (dashed) Zero position of the kinematics D1 D2 L1 L2 Distance of the axes from the center of the upper connecting plate (radius of the upper connecting plate) Distance of the hinge points of the connecting rods from the lower connecting plate (radius of the lower connecting plate) Length of the upper arms Length of the connecting rods D1, D2, L1 and L2 are identical for the two arms of the kinematics. LF Flange length before the FCS in the z direction of the KCS Deflection of the kinematics The motion of the axes in the positive direction is the outward rotation of the upper arms. α1 Deflection of the axis A1 in the negative direction when α1 = α2 Deflection of the axis A2 in the positive direction when α2 = 88.0 Legend for display of the kinematics (Page 35) 88 Function Manual, 12/2017, A5E AA

89 Basics 3.7 Kinematics The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at the center point of the upper connecting plate. The axes A1 and A2 are at distance D1 from the common center point (kinematics zero point). The flange coordinate system (FCS) is located on the bottom of the lower connecting plate with equal distance D2 to the hinge points of each arm. You shift the FCS in the negative z direction of the KCS using length LF. In the zero position of the axes A1 and A2, the upper arms point in the negative z direction of the KCS. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Transformation area Only the outwardly bent joint position (Page 95) is permitted for the arms of the kinematics. You cannot traverse the axes beyond the extended position of the arms Delta picker 3D The kinematics "Delta picker 3D" supports three axes and three degrees of freedom. The axes are configured as parallel kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of three rotary axes A1, A2 and A3. The kinematics is modeled suspended and consists of an upper connecting plate, three upper arms and a lower connecting plate. The axes for moving the arms (axes A1, A2 and A3) are fastened to the upper connecting plate. The upper arms and the connecting rods connect the upper and lower connecting plates. The tool is suspended from the lower connecting plate. The parallelogram structures of the connecting rods keep the lower connecting plate parallel to the xy plane of the KCS. Function Manual, 12/2017, A5E AA 89

90 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the top view (xy plane): The position of the kinematics coordinate system (KCS) The angles of the axes A1, A2 and A3 to one another β1 β2 Angle between the axes A1 and A2 Angle between the axes A2 and A3 Legend for display of the kinematics (Page 35) The following graphic shows the top view of the position of the flange coordinate system (FCS) in the xy plane of the lower connecting plate: 90 Function Manual, 12/2017, A5E AA

91 Basics 3.7 Kinematics The graphic below shows the following in the front view (xz plane): The position of the axis A1 and the coordinate systems KCS and FCS The zero position of the axis A1 The positive/negative deflection of the axis A1 is indicated (dashed) Zero position of the kinematics D1 D2 L1 L2 Distance of the axes from the center of the upper connecting plate (radius of the upper connecting plate) Distance of the hinge points of the connecting rods from the lower connecting plate (radius of the lower connecting plate) Length of the upper arms Length of the connecting rods D1, D2, L1 and L2 are identical for the three arms of the kinematics. LF Flange length before the FCS in the z direction of the KCS Deflection of the kinematics The motion of the axes in the positive direction is the outward rotation of the upper arms. α1 Deflection of the axis A1 in negative direction when α1 = Deflection of the axis A1 in positive direction when α1 = 90.0 Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 91

92 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the center point of the upper connecting plate. The axes A1, A2 and A3 are at distance D1 from the common center point (kinematics zero point). The FCS is located in the center on the bottom of the lower connecting plate with equal distance D2 to the hinge points of each arm. You shift the FCS in the negative z direction of the KCS using length LF. In the zero position of the axes A1, A2 and A3, the upper arms point in the negative z direction of the KCS. Transformation area Only the outwardly bent joint position (Page 95) is permitted for the arms of the kinematics. You cannot traverse the axes beyond the extended position of the arms Delta picker 3D with orientation The kinematics "Delta picker 3D with orientation" supports four axes and four degrees of freedom. The axes are configured as parallel kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: Three rotary axes A1, A2 and A3 One rotary axis A4 (orientation axis) The kinematics is modeled suspended and consists of an upper connecting plate, three upper arms and a lower connecting plate. The axes for moving the arms (axes A1, A2 and A3) are fastened to the upper connecting plate. The upper arms and the connecting rods connect the upper and lower connecting plates. The tool is attached to the lower connecting plate. The parallelogram structures of the connecting rods keep the lower connecting plate parallel to the xy plane of the KCS. The orientation axis A4 enables rotation of the tool. 92 Function Manual, 12/2017, A5E AA

93 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the top view (xy plane): The position of the kinematics coordinate system (KCS) The angles of the axes A1, A2 and A3 to one another β1 β2 Angle between the axes A1 and A2 Angle between the axes A2 and A3 Legend for display of the kinematics (Page 35) The following graphic shows the top view of the position of the flange coordinate system (FCS) in the xy plane of the lower connecting plate: Function Manual, 12/2017, A5E AA 93

94 Basics 3.7 Kinematics The graphic below shows the following in the front view (xz plane): The position of the axis A1 and the coordinate systems KCS and FCS The zero positions of the axes A1 and A4 The positive/negative deflection of the axis A1 is indicated (dashed) Zero position of the kinematics D1 D2 L1 L2 Distance of the axes from the center of the upper connecting plate (radius of the upper connecting plate) Distance of the hinge points of the connecting rods from the lower connecting plate (radius of the lower connecting plate) Length of the upper arms Length of the connecting rods D1, D2, L1 and L2 are identical for the three arms of the kinematics. LF Flange length before the FCS in the z direction of the KCS Deflection of the kinematics The motion of the axes in the positive direction is the outward rotation of the upper arms. α1 Deflection of the axis A1 in negative direction when α1 = Deflection of the axis A1 in positive direction when α1 = 90.0 Legend for display of the kinematics (Page 35) 94 Function Manual, 12/2017, A5E AA

95 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the center point of the upper connecting plate. The axes A1, A2 and A3 are at distance D1 from the common center point (kinematics zero point). The FCS is located in the center on the bottom of the lower connecting plate with equal distance D2 to the hinge points of each arm. You shift the FCS in the negative z direction of the KCS using length LF. In the zero position of the axes A1, A2 and A3, the upper arms point in the negative z direction of the KCS. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Transformation area Only the outwardly bent joint position (Page 95) is permitted for the arms of the kinematics. You cannot traverse the axes beyond the extended position of the arms Permissible joint position for delta picker Only the outwardly bent joint position is permitted for the arms of the delta picker kinematics. The graphic below shows examples of permissible and impermissible joint positions for the transformation: Permissible joint position Invalid joint position for the transformation Function Manual, 12/2017, A5E AA 95

96 Basics 3.7 Kinematics Delta picker tags Delta picker 2D You define the 2D delta picker kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 15 Delta picker 2D 16 Delta picker 2D with orientation <TO>.Kinematics.Parameter[1] 0.0 to 1.0E12 Distance D1 (radius of the upper connecting plate) <TO>.Kinematics.Parameter[2] to 1.0E12 Length L1 of the upper arms <TO>.Kinematics.Parameter[3] to 1.0E12 Length L2 of connecting rods <TO>.Kinematics.Parameter[4] 0.0 to 1.0E12 Distance D2 (radius of the lower connecting plate) <TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Distance LF of the FCS from the lower connecting plate in the negative z direction of the KCS Delta picker 3D You define the 3D delta picker kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 17 Delta picker 3D 18 Delta picker 3D with orientation <TO>.Kinematics.Parameter[1] 0.0 to 1.0E12 Distance D1 (radius of the upper connecting plate) <TO>.Kinematics.Parameter[2] to 1.0E12 Length L1 of the upper arms <TO>.Kinematics.Parameter[3] to 1.0E12 Length L2 of connecting rods <TO>.Kinematics.Parameter[4] 0.0 to 1.0E12 Distance D2 (radius of the lower connecting plate) <TO>.Kinematics.Parameter[5] to Angle β1 between the axes A1 and A2 <TO>.Kinematics.Parameter[6] to Angle β2 between the axes A2 and A3 <TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance LF of the FCS from the lower connecting plate in the negative z direction of the KCS 96 Function Manual, 12/2017, A5E AA

97 Basics 3.7 Kinematics Cylindrical robot Cylindrical robot 3D The kinematics "Cylindrical robot 3D" supports three axes and three degrees of freedom. The axes are configured as serial kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with rotation around the z axis of the kinematics coordinate system (KCS) A linear axis A2 in z direction of the KCS A linear axis A3 in z direction of the KCS The kinematics consists of a base, a supporting column and a jib. Axis A1 rotates the supporting column with jib around the base. Axis A2 moves the jib vertically. Axis A3 moves the flange system horizontally on the jib. The kinematics enables a cylindrical working area. Function Manual, 12/2017, A5E AA 97

98 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero positions of the axes A1 and A2 The deflection of the kinematics is indicated (dashed) Zero position of the axes A1 and A2 L1 At zero position of the axis A2: LF x1 Distance of the FCS to the kinematics zero point (KZP) and flange length LF in z direction of the KCS Flange length before the FCS in the z direction of the KCS Positive deflection of the axis A3 At the zero position of axis A3, the z axis of the FCS is located on the z axis of the KCS. For mechanical reasons, the kinematics shown cannot approach the zero position of the axis A3. Deflection of the kinematics x2 z1 Positive deflection of the axis A3 Positive deflection of the axis A2 Legend for display of the kinematics (Page 35) 98 Function Manual, 12/2017, A5E AA

99 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) Zero position of the kinematics L2 Distance of the axis A3 from the KZP in y direction of the KCS (negative value here) Deflection of the kinematics α1 Positive deflection of the axis A1 when α1 = 30 Negative deflection of the axis A1 when α1 = -75 Legend for display of the kinematics (Page 35) The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. You define the distance of the zero position of axis A2 in z direction of the KCS from the KZP using length L1. You define the distance of the axis A3 from the KNP in y direction of the KCS using length L2. The flange coordinate system (FCS) is located on the axis A3, shifted by the length LF in negative z direction of the KCS. The following table shows the zero position of the axes: Axis A1 A2 A3 Zero position The jib with the axis A3 points in xkcs direction. The axis A2 is at the position 0.0 of the interconnected technology object. The axis A3 is at the position 0.0 of the interconnected technology object. Function Manual, 12/2017, A5E AA 99

100 Basics 3.7 Kinematics Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α1 < Axis A2: No limiting Axis A3: No limiting Note Singular positions The kinematics have singular positions (Page 121). A singular position occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of the kinematics coordinate system (KCS). Inverse transformation is not possible in this area. This position may result, e.g. if the length L2 is 0.0 due to the design. The graphic below shows examples of permissible and impermissible joint positions for the transformation: Permissible joint position Invalid joint position for transformation with L2 = Function Manual, 12/2017, A5E AA

101 Basics 3.7 Kinematics Cylindrical robot 3D with orientation The kinematics "Cylindrical robot 3D with orientation" supports four axes and four degrees of freedom. The axes are configured as serial kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: A rotary axis A1 with rotation around the z axis of the kinematics coordinate system (KCS) A linear axis A2 in z direction of the KCS A linear axis A3 in z direction of the KCS One rotary axis A4 (orientation axis) The kinematics consists of a base, a supporting column and a jib. Axis A1 rotates the supporting column with jib around the base. Axis A2 moves the jib vertically. Axis A3 moves the flange system horizontally on the jib. The kinematics enables a cylindrical working area. The orientation axis A4 enables the rotary motion of the tool. Function Manual, 12/2017, A5E AA 101

102 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the side view (xz plane): The position of the axes and the coordinate systems KCS and FCS The zero positions of the axes A1 and A2 The deflection of the kinematics is indicated (dashed) Zero position of the kinematics L1 At zero position of the axis A2: LF x1 Distance of the FCS to the kinematics zero point (KZP) and flange length LF in z direction of the KCS Flange length before the FCS in the z direction of the KCS Positive deflection of the axis A3 At the zero position of axis A3, the z axis of the FCS is located on the z axis of the KCS. For mechanical reasons, the kinematics shown cannot approach the zero position of the axis A3. Deflection of the kinematics x2 z1 Positive deflection of the axis A3 Positive deflection of the axis A2 Legend for display of the kinematics (Page 35) 102 Function Manual, 12/2017, A5E AA

103 Basics 3.7 Kinematics The graphic below shows the following in the top view (xy plane): The position of the axes and the coordinate systems KCS and FCS The zero position of the kinematics The positive/negative deflection of the kinematics is indicated (dashed) Zero position of the kinematics L2 Distance of the axis A3 to the KZP in y direction of the KCS (negative value in this case) Deflection of the kinematics α1 Positive deflection of the axis A1 when α1 = 30 Negative deflection of the axis A1 when α1 = -75 Legend for display of the kinematics (Page 35) The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. You define the distance of the zero position of axis A2 in z direction of the KCS from the KZP using length L1. You define the distance of the axis A3 from the KNP in y direction of the KCS using length L2. The flange coordinate system (FCS) is located on the axis A3, shifted by the length LF in negative z direction of the KCS. Function Manual, 12/2017, A5E AA 103

104 Basics 3.7 Kinematics The following table shows the zero position of the axes: Axis A1 A2 A3 A4 Zero position The jib with the axis A3 points in xkcs direction. The axis A2 is at the position 0.0 of the interconnected technology object. The axis A3 is at the position 0.0 of the interconnected technology object. At the zero position of axis A1, the x axis of the FCS points in the direction of the x axis of the KCS. Compensation of mechanical axis couplings You can configure a mechanical axis coupling of axis A4 to axis A2 for the kinematics. The kinematics transformation compensates for the configured mechanical axis coupling. The axis coupling between axis A4 and axis A2 is implemented as a leadscrew pitch. With a coupling factor of 1.0, on axis A4 corresponds to a distance of -1.0 mm on axis A2. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axis A1: α1 < Axis A2: No limiting Axis A3: No limiting Axis A4: No limiting An angle greater than 360 can be defined for the orientation. But coordinate A of the tool center point (TCP) is mapped in the range -180 to Note Singular positions The kinematics have singular positions (Page 121). A singular position occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of the kinematics coordinate system (KCS). Inverse transformation is not possible in this area. This position may result, e.g. if the length L2 is 0.0 due to the design. 104 Function Manual, 12/2017, A5E AA

105 Basics 3.7 Kinematics The graphic below shows examples of permissible and impermissible joint positions for the transformation: Permissible joint position Invalid joint position for transformation with L2 = 0.0 Function Manual, 12/2017, A5E AA 105

106 Basics 3.7 Kinematics Cyclic robot tags Cylindrical robot 3D You define the "Cylindrical robot 3D" kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 21 Cylindrical robot 3D <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the zero position of the axis A2 to the kinematics zero point in z direction of the kinematics coordinate system (KCS) <TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 between the axes A2 and A3 in y direction of the KCS <TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A3 in the negative z direction of the KCS Cylindrical robot 3D with orientation You define the "Cylindrical robot 3D with orientation" kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 22 Cylindrical robot 3D with orientation <TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the zero position of the axis A2 to the kinematics zero point in z direction of the KCS <TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 between the axes A2 and A3 in y direction of the KCS <TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A3 in the negative z direction of the KCS <TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A4 to A2 present/ not present 0 Not present 1 Present <TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Mechanical axis coupling factor of axis A4 to axis A2 106 Function Manual, 12/2017, A5E AA

107 Basics 3.7 Kinematics Tripod Tripod 3D The kinematics "Tripod 3D" supports three axes and three degrees of freedom. The axes are configured as parallel kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of three linear axes A1, A2 and A3. The kinematics is modeled suspended and consists of an upper connecting plate, three arms and a lower connecting plate. The axes for the motion of the arms consist of rails with sliding carriages. The rails with the sliding carriages are fastened to the upper connecting plate. Connecting rods connect the sliding carriages to the lower connecting plate. The tool is suspended from the lower connecting plate. The parallelogram structures of the connecting rods keep the lower connecting plate parallel to the xy plane of the KCS. Function Manual, 12/2017, A5E AA 107

108 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the top view (xy plane): The position of the kinematics coordinate system (KCS) The angles of the axes A1, A2 and A3 to one another β1 β2 Angle between the axes A1 and A2 Angle between the axes A2 and A3 Legend for display of the kinematics (Page 35) The following graphic shows the top view of the position of the flange coordinate system (FCS) in the xy plane of the lower connecting plate: 108 Function Manual, 12/2017, A5E AA

109 Basics 3.7 Kinematics The graphic below shows the following in the front view (xz plane): The position of the axis A1 and the coordinate systems KCS and FCS The zero position of the axis A1 The positive deflection of the axis A1 is indicated (dashed) Zero position of the kinematics D1 D2 L1 LF γ Distance of the upper hinge points of the connecting rods to the center of the upper connecting plate Distance of the lower hinge points of the connecting rods to the center of the lower connecting plate Length of the connecting rods Flange length before the FCS in the z direction of the KCS Angle between the upper connecting plate (xy plane of the KCS) and the rail of the axis A1 (0.0 γ < 90.0 ) D1, D2, L1 and γ are identical for the three arms of the kinematics. Deflection of the kinematics with deflection of the axis A1 in positive direction Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 109

110 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the center point of the upper connecting plate. The kinematics zero point is centered relative to the zero positions of the axes A1, A2 and A3. The FCS is located in the center point of the lower connecting plate with identical distance D2 to the joint points of each connecting rod. You shift the FCS in the negative z direction of the KCS using length LF. At the zero position, axes A1, A2 and A3 are in the x-y plane of the KCS. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axes A1, A2 and A3: 0.0 Travel distance 110 Function Manual, 12/2017, A5E AA

111 Basics 3.7 Kinematics Tripod 3D with orientation The kinematics "Tripod 3D with orientation" supports four axes and four degrees of freedom. The axes are configured as parallel kinematics. The following graphic shows the principal configuration and the typical working area of the kinematics: The kinematics consists of the following axes: Three linear axes A1, A2 and A3 One rotary axis A4 (orientation axis) The kinematics is modeled suspended and consists of an upper connecting plate, three arms and a lower connecting plate. The axes for the motion of the arms consist of rails with sliding carriages. The rails with the sliding carriages are fastened to the upper connecting plate. Connecting rods connect the sliding carriages to the lower connecting plate. The tool is suspended from the lower connecting plate. The parallelogram structures of the connecting rods keep the lower connecting plate parallel to the xy plane of the KCS. The orientation axis A4 enables the rotary motion of the tool. Function Manual, 12/2017, A5E AA 111

112 Basics 3.7 Kinematics Coordinate systems and zero position The graphic below shows the following in the top view (xy plane): The position of the kinematics coordinate system (KCS) The angles of the axes A1, A2 and A3 to one another β1 β2 Angle between the axes A1 and A2 Angle between the axes A2 and A3 Legend for display of the kinematics (Page 35) The following graphic shows the top view of the position of the flange coordinate system (FCS) in the xy plane of the lower connecting plate: 112 Function Manual, 12/2017, A5E AA

113 Basics 3.7 Kinematics The graphic below shows the following in the side view: The position of the axis A1 and the coordinate systems KCS and FCS The zero position of the axis A1 The positive deflection of the axis A1 is indicated (dashed) Zero position of the kinematics D1 D2 L1 LF γ Distance of the upper hinge points of the connecting rods to the center of the upper connecting plate Distance of the lower hinge points of the connecting rods to the center of the lower connecting plate Length of the connecting rods Flange length before the FCS in the z direction of the KCS Angle between the upper connecting plate (xy plane of the KCS) and the rail of the axis A1 (0.0 γ < 90.0 ) D1, D2, L1 and γ are identical for the three arms of the kinematics. Deflection of the kinematics with deflection of the axis A1 in positive direction Legend for display of the kinematics (Page 35) Function Manual, 12/2017, A5E AA 113

114 Basics 3.7 Kinematics The KCS with the kinematics zero point (KZP) is located at the center point of the upper connecting plate. The kinematics zero point is centered relative to the zero positions of the axes A1, A2 and A3. The FCS is located in the center point of the lower connecting plate with identical distance D2 to the joint points of each connecting rod. You shift the FCS in the negative z direction of the KCS using length LF. At the zero position, axes A1, A2 and A3 are in the x-y plane of the KCS. At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS. Transformation area The kinematics transformation covers the following traversing range (Page 118) of the axes: Axes A1, A2 and A3: 0.0 Travel distance Axis A4: No limiting An angle greater than 360 can be defined for the orientation. But coordinate A of the tool center point (TCP) is mapped in the range -180 to Tags of tripod You define the tripod kinematics using the following tags of the technology object: Tags Values Description <TO>.Kinematics.TypeOfKinematics 23 Tripod 3D 24 Tripod 3D with orientation <TO>.Kinematics.Parameter[1] 0.0 to 1.0E12 Distance D1 (radius of the upper connecting plate) <TO>.Kinematics.Parameter[2] to 1.0E12 Length L1 of connecting rods <TO>.Kinematics.Parameter[3] 0.0 to Angle γ between the linear axes and the x-y plane of the kinematics coordinate system <TO>.Kinematics.Parameter[4] 0.0 to 1.0E12 Distance D2 (radius of the lower connecting plate) <TO>.Kinematics.Parameter[5] to Angle β1 between the axes A1 and A2 <TO>.Kinematics.Parameter[6] to Angle β2 between the axes A2 and A3 <TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the lower connecting plate in the negative z direction of the kinematics coordinate system 114 Function Manual, 12/2017, A5E AA

115 Basics 3.7 Kinematics User-defined kinematics systems Overview of user-defined kinematics systems You can configure user-defined kinematics systems with corresponding axis interconnections: User-defined 2D User-defined 2D with orientation User-defined 3D User-defined 3D with orientation The configuration supports you in the interconnection of the positioning axes in a user-defined kinematics. In addition, up to 32 tags for defining the geometry of your kinematics area available on the system level. You have to program the user transformation (Page 122) of the Cartesian positions and the axis positions and axis dynamics. Predefined interfaces are available on the system level. See also User transformation (Page 122) Tags of user-defined kinematics systems You configure the user-defined kinematics systems using the following tags of the technology object: Tag Values Description <TO>.Kinematics.TypeOfKinematics 31 User-defined 2D 32 User-defined 2D with orientation 33 User-defined 3D 34 User-defined 3D with orientation <TO>.Kinematics.Parameter[1..32] - Up to 32 user-specific parameters Function Manual, 12/2017, A5E AA 115

116 Basics 3.8 Kinematics transformation 3.8 Kinematics transformation Brief description of the kinematics transformation The kinematics transformation is the conversion between the Cartesian coordinates of the kinematics motion and the setpoints for the individual kinematics axes: Forward transformation Calculation of the Cartesian coordinates from the axis positions of the kinematics axes Inverse transformation Calculation of the axis positions of the kinematics axes from the Cartesian coordinates The kinematics transformation converts the position values and the dynamic values (velocity, acceleration). The kinematics technology object provides the kinematics transformation for the predefined kinematics types on the system level. In the case of user-defined kinematics systems, you must calculate the user transformation (Page 122) in its own program. 116 Function Manual, 12/2017, A5E AA

117 Basics 3.8 Kinematics transformation Transformation for predefined kinematics systems Reference points The kinematics transformation uses the following reference points: Kinematics zero point (KZP) Zero positions of the kinematics axes Tool center point (TCP) The positive direction of the axes for the kinematics transformation is dependent on the kinematics type (Page 34). Configure the positive direction on the positioning axis/synchronous axis technology object corresponding to the positive direction of the axis in the kinematics. Kinematics zero point (KZP) The coordinate origin of the kinematics coordinate system (KCS) is the KZP. You configure the geometry parameters of the kinematics starting from the KZP. Zero positions of the kinematics axes The position 0.0 on the positioning axis/synchronous axis technology object defines the zero position of the kinematics axis. Reference the axes in such a way that the axes indicate the position 0.0 in the zero position of the kinematics. The zero position of the kinematics depends on the kinematics type (Page 34). Tool center point (TCP) The position of the TCP results from the geometry parameters and the tool frame. Function Manual, 12/2017, A5E AA 117

118 Basics 3.8 Kinematics transformation Traversing range and transformation area The transformation area is the area of the axis positions that the kinematics transformation covers. The kinematics type defines the transformation area for the individual kinematics axes. You will find information on the transformation area in the description of the individual kinematics systems (Page 34). The hardware and software limit switches of an axis define the maximum traversing range and the working area. The working area of a kinematics axis can be greater than or less than the transformation area depending on the axis configuration: Work area > Transformation area When a kinematics axis exits the transformation area during a kinematics motion, the kinematics technology object outputs the technology alarm 803. The kinematics motion is aborted and the axes stop with the maximum dynamic values configured for the axes (alarm reaction: Stop with maximum dynamic values of the axes). Work area Transformation area When a kinematics axis runs into the software limit switch, the positioning axis/synchronous axis technology object outputs the technology alarm 533. The axis stops with the maximum dynamic values configured for the axis (alarm reaction: Stop with maximum dynamic values). When the axis is stopped, the kinematics technology object outputs the technology alarm 801. The kinematics motion is aborted and the axes stop with the maximum dynamic values configured for the axes (alarm reaction: Stop with maximum dynamic values of the axes). The following graphic shows the relationship between the working area of the axis and the transformation area: Mechanical end stop Hardware limit switch for positioning axis/synchronous axis technology object Software limit switch for positioning axis/synchronous axis technology object Maximum traversing range of the axis Work area of the axis Transformation area (here working area > transformation area) 118 Function Manual, 12/2017, A5E AA

119 Basics 3.8 Kinematics transformation Joint position spaces (kinematics-dependent) Depending on the kinematics type, a kinematics system can reach Cartesian coordinates via various joint positions. The kinematics type (Page 34) defines the possible joint positions and the positive and negative joint position space. The joint positioning spaces are limited by the respective transformation areas. In addition, with the kinematics type "Delta picker" there are further limitations due to invalid joint positions and singular positions (Page 121) with the kinematics types "articulated arm", "SCARA" and "cylindrical robot". Also note the resulting constructional limitations due to the installation location of the kinematics. The kinematics technology object indicates the current joint position in the "<TO>.StatusKinematics.LinkConstellation" tag. The kinematics system cannot exit the joint position space during a kinematics motion. You can change the joint position space using single axis motions. Function Manual, 12/2017, A5E AA 119

120 Basics 3.8 Kinematics transformation Example: "SCARA" kinematics type A "SCARA" kinematics is to relocate an object one pallet to another pallet. Due to a wall, the kinematics system cannot reach the second pallet without the axis A2 changing the joint position space. Zero position of the kinematics Deflection of the kinematics in the positive direction when α1 = 45.0 with positive joint position when α2 = Deflection of the kinematics in the negative direction when α1 = with negative joint position when α2 = α1 Deflection of the axis A1 in positive direction when α1 = 45.0 Deflection of the axis A1 in the negative direction when α1 = α2 The deflection of the axis A2 in the positive direction when α2 = produces a positive joint position. The deflection of the axis A2 in negative direction when α2 = produces a negative joint position. Legend for display of the kinematics (Page 35) 120 Function Manual, 12/2017, A5E AA

121 Basics 3.8 Kinematics transformation Singular positions Depending on the kinematics type, inverse transformation Cartesian coordinates are possible, which cannot be clearly converted into axis positions of the kinematics axes. This occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of the kinematics coordinate system (KCS). The Cartesian coordinates at which this behavior occurs are referred to as singular positions. The following kinematics types of the kinematics technology object have singular positions. Articulated arm 3D Articulated arm 3D with orientation SCARA 3D with orientation Cylindrical robot 3D Cylindrical robot 3D with orientation Behavior in singular positions A path motion on or through a singular position is not possible. When the singular position is reached, the technology alarm 803 "Error during calculation of the transformation" is output (alarm reaction: Stop with maximum dynamic values of the axes). Dynamic increase in the vicinity of singular positions If the path motion runs in the vicinity of singular positions, kinematics axes may accelerate or decelerate considerably and travel at very high speed. The dynamic limits of the axes may be exceeded because of this. If the dynamic limits of the axes with regard to speed, acceleration or deceleration are exceeded, this is displayed on the technology object data block of the corresponding axis and the technology alarm 511 "Dynamic limit is violated by the kinematics motion" is triggered. This is a warning and contains no alarm response. The kinematics motion is not stopped. The size of the area in which this behavior occurs depends on the kinematics used. Possible measures: To prevent travel in or in the vicinity of singular positions, take the following measures: 1. Plan the path motions in such a way that the kinematics do not travel in or in the vicinity of singular positions. 2. Check whether travel with your kinematics in or in the vicinity of singular positions can be prevented by blocked zones or software limit switches. Function Manual, 12/2017, A5E AA 121

122 Basics 3.8 Kinematics transformation Mechanical couplings (kinematics-dependent) If the position of a kinematics axis changes due to the motion of another kinematics axis, these two axes are mechanically coupled. Mechanical couplings between two kinematics axes can arise for reasons of construction. For example, if the orientation axis of the "SCARA" kinematics is coupled to the spindle of a linear axis, the orientation changes due to the motion of the linear axis. The kinematics transformation compensates for the mechanical couplings with a coupling factor. You specify the mechanical couplings and coupling factors depending on the kinematics type during configuration of the kinematics Transformation for user-defined kinematics systems User transformation Unlike for predefined kinematics types, you must calculate the transformation for user-defined kinematics systems in your own program. Like for predefined kinematics types, the kinematics technology object performs the following tasks: Processing of Motion Control instructions Monitoring functions Communication with the interconnected axes You program the user transformation of the Cartesian coordinates and the axis-specific setpoints in the MC-Transformation [OB98] organization block. This programming includes the transformation of the positions and the dynamic values (velocity, acceleration, jerk). You freely define the parameters of a user-defined kinematics system in the tags of the kinematics technology object "<TO>.Kinematics.Parameter[1..32]" or under "Technology object > Configuration > Geometry". When you add the MC-Transformation [OB98] in the TIA Portal, the system data block "TransformationParameter" is automatically created under "Program blocks > System blocks > Program resources". In the properties of the organization block under "General > Transformation", the MC-Transformation [OB98] indicates the number of the system data block "TransformationParameter". You write and read the axis-specific data or the Cartesian data of the kinematics to be transformed in the system data block "TransformationParameter". 122 Function Manual, 12/2017, A5E AA

123 Basics 3.8 Kinematics transformation Programming The graphic below shows the interfaces and the interaction of system performance and user transformation: Processing by user program System performance The kinematics technology object automatically calls the MC-Transformation [OB98]. The MC-Transformation [OB98] contains the following start information: Kinematics technology object that calls the MC-Transformation [OB98] Required direction of the transformation (forward or inverse transformation) Processing context of the transformation (current motion or motion planning) Pointer to the system data block "TransformationParameter" (VARIANT) You evaluate this status information in your user program. In MC-Transformation [OB98]. you program the algorithms for the calculation of the axis-specific data or the Cartesian data of all user-defined kinematics systems. You read the kinematics parameters needed for this from the tags of the "<TO>.Kinematics.Parameter[1..32]" technology object. You write the result of the calculation to the "TransformationParameter" interface. The transformation parameters are then applied automatically to the kinematics technology object and processed further. The kinematics technology object outputs the setpoints to the kinematics axes. Function Manual, 12/2017, A5E AA 123

124 Basics 3.8 Kinematics transformation Restrictions during transformation of multiple kinematics Each kinematics technology object calls the MC-Transformation [OB98]. Only one kinematics can be transformed in an MC-Transformation [OB98]. Only one MC-Transformation [OB98] can be called in each servo clock MC-Transformation [OB98] Reference declaration for system data block "TransformationParameter" You must specify a reference to the data type for the system data block "TransformationParameter" in the "MC-Transformation [OB98]". For this purpose, you specify a tag with the following data type in the "Temp" area of the block interface: "REF_TO TO_Struct_TransformationParameter_V1" To enable access to the system data block "TransformationParameter", assign the data type "TO_Struct_TransformationParameter_V1" using the following casting command: #P?= #TransformationParameters; The declaration is described in a program example (Page 127). Block call The MC-Transformation [OB98] is called in the Motion Control application cycle according to the configured priority. When the MC-Transformation [OB98] is called, the kinematics technology object assigns its parameters: Parameter Declaration Data type Default Description value KinematicsObject INPUT DB_ANY - Kinematics technology object for which the MC-Transformation [OB98] calculates the transformation when called. ExecutionContext INPUT DINT - Processing context of the MC-Transformation OB 0 MOTION_EXECUTION Calculation of the axis setpoints in the motion execution in the MC-Interpolator [OB92]. The calculated values are necessary for the current motion control. 1 NON_MOTION_EXECUTION The transformation is necessary for the motion planning (currently no motion). TransformationType INPUT DINT - Calculation called for 0 Forward transformation Calculation of the Cartesian parameters from the axis positions 1 Inverse transformation Calculation of the axis-specific parameters from the Cartesian parameters 124 Function Manual, 12/2017, A5E AA

125 Basics 3.8 Kinematics transformation Parameter Declaration Data type Default value Description TransformationParameters InOut VARIANT - Pointer to the system data block "Transformation- Parameter" FunctionResult OUTPUT DINT - Return value of the MC-Transformation [OB98] to the kinematics technology object 0 Calculation performed and parameters output < 0 Error during calculation (user-defined) If an error occurs during the calculation, the kinematics technology object stops the motion. The kinematics technology object outputs a technology alarm with the error ID as an accompany value and deletes the job sequence. Priority You configure the priority of the MC-Transformation [OB98] in the properties of the organization block under "General > Attributes > Priority". For the priority you can set values from 17 to 25 (default setting 25): The priority of MC-Transformation [OB98] must be at least one level lower than the priority of MC-Servo [OB91]. The priority of MC-Transformation [OB98] must be at least one level higher than the priority of MC-Interpolator [OB92]. Function Manual, 12/2017, A5E AA 125

126 Basics 3.8 Kinematics transformation Tags of the system data block "TransformationParameter" The following table shows the tags in the system data block "TransformationParameter": Tag Data type Description AxisData. STRUCT_ Transformation AxisData_V1 Axis-specific parameters a1position LREAL Position setpoint of the axis A1 a1velocity LREAL Velocity setpoint of the axis A1 a1acceleration LREAL Acceleration setpoint of the axis A1 a2position LREAL Position setpoint of the axis A2 a2velocity LREAL Velocity setpoint of the axis A2 a2acceleration LREAL Acceleration setpoint of the axis A2 a3position LREAL Position setpoint of the axis A3 a3velocity LREAL Velocity setpoint of the axis A3 a3acceleration LREAL Acceleration setpoint of the axis A3 a4position LREAL Position setpoint of the axis A4 a4velocity LREAL Velocity setpoint of the axis A4 a4acceleration LREAL Acceleration setpoint of the axis A4 CartesianData STRUCT_ Transformation Cartesian- Data_V1 xposition LREAL x position xvelocity LREAL x velocity xacceleration LREAL x acceleration yposition LREAL y position yvelocity LREAL y velocity yacceleration LREAL y acceleration zposition LREAL z position zvelocity LREAL z velocity zacceleration LREAL z acceleration Cartesian parameters and joint position aposition LREAL A-position (orientation) avelocity LREAL A velocity (orientation) aacceleration LREAL A acceleration (orientation) LinkConstellation DWORD Joint position area 126 Function Manual, 12/2017, A5E AA

127 Basics 3.8 Kinematics transformation Program example for user transformation The following describes a simple example for the user transformation in the MC-Transformation [OB98] of a 2D kinematics with the name "KinematicsUserDefined2D". For these kinematics, two transformation parameters were defined under "Technology object > Configuration > Geometry". The following table shows the declaration of the tags used: Tag Declaration Data type Description KinematicsObject Input DB_ANY Reference to the technology object TransformationType Input DInt Transformation direction 0: Forward transformation 1: Inverse transformation FunctionResult Output DInt Transformation result 0: Successful < 0 Error Transformation- Parameters InOut Variant Pointer to the system data block "Transformation- Parameter" P Temp REF_TO Temporary tag for the casting command TO_Struct_Transformation Parameter_V1 GearRatioA1 Temp LReal Temporary tag for read the defined transformation parameters GearRatioA2 Temp LReal Temporary tag for read the defined transformation parameters InvalidCast Constant DInt Return value for unsuccessful casting The program example is structured as follows: Casting command for access to the system data block "TransformationParameter" Evaluation of the technology object Read the defined transformation parameters Evaluation of the transformation direction Calculation of the Cartesian coordinates from the axis positions of the kinematics axes (forward transformation) Calculation of the axis positions of the kinematics axes from the Cartesian coordinates (backward transformation) Function Manual, 12/2017, A5E AA 127

128 Basics 3.8 Kinematics transformation SCL //Caste of the variant "TransformationParameters" to the referenced datatype //"TO_Struct_TransformationParameter_V1". //This has to be done in order to access the variant pointer, which references //the "TransformationParameters" where the "AxisData" and "CartesianData" for //the calculation of user transformation are stored. #P?= #TransformationParameters; //Check if cast of "TransformationParameters" was successfull. Otherwise abort calculation. IF #P = NULL THEN #FunctionResult := #InvalidCast; RETURN; END_IF; //Check if "KinematicsUserDefined2D" needs transformation. IF #KinematicsObject = "KinematicsUserDefined2D" THEN //Read the user defined cartesian parameters. #GearRatioA1 := "KinematicsUserDefined2D".Kinematics.Parameter[1]; #GearRatioA2 := "KinematicsUserDefined2D".Kinematics.Parameter[2]; //Calculate the forward transformation "AxisData" -> "CartesianData". //The system fills the "AxisData" of "TransformationParameters" with values. //To calculate the "CartesianData" evaluate "AxisData". IF #TransformationType = 0 THEN //Calculate the position, velocity and acceleration component for the x-vector. #P^.CartesianData.xPosition := #P^.AxisData.a1Position * #GearRatioA1; #P^.CartesianData.xVelocity := #P^.AxisData.a1Velocity * #GearRatioA1; #P^.CartesianData.xAcceleration := #P^.AxisData.a1Acceleration * #GearRatioA1; //Calculate the position, velocity and acceleration component for the z-vector. #P^.CartesianData.zPosition := #P^.AxisData.a2Position * #GearRatioA2; #P^.CartesianData.zVelocity := #P^.AxisData.a2Velocity * #GearRatioA2; #P^.CartesianData.zAcceleration := #P^.AxisData.a2Acceleration * #GearRatioA2; //Link constellation can be set to 0 here, hence it is not needed. #P^.CartesianData.LinkConstellation := 16#0000; //Transformation was successfull. #FunctionResult := 0; //Calculate the backward transformation "CartesianData" -> "AxisData". //The system fills the "CartesianData" of "TransformationParameters" with values. //To calculate the "AxisData" evaluate "CartesianData". ELSIF #TransformationType = 1 THEN //Calculate the position, velocity and acceleration component for the first axis. #P^.AxisData.a1Position := #P^.CartesianData.xPosition / #GearRatioA1; #P^.AxisData.a1Velocity := #P^.CartesianData.xVelocity / #GearRatioA1; #P^.AxisData.a1Acceleration := #P^.CartesianData.xAcceleration / #GearRatioA1; 128 Function Manual, 12/2017, A5E AA

129 Basics 3.8 Kinematics transformation SCL //Calculate the position, velocity and acceleration component for the second axis. #P^.AxisData.a2Position := #P^.CartesianData.zPosition / #GearRatioA2; #P^.AxisData.a2Velocity := #P^.CartesianData.zVelocity / #GearRatioA2; #P^.AxisData.a2Acceleration := #P^.CartesianData.zAcceleration / #GearRatioA2; //Transformation was successfull. #FunctionResult := 0; END_IF; END_IF; See also MC-Transformation [OB98] (Page 124) Tags of kinematics transformation The following tags of the kinematics technology object are relevant for the kinematics transformation: Tag Description Status values <TO>.StatusKinematics.Valid TRUE Transformation/Cartesian values valid FALSE Transformation/Cartesian values invalid <TO>.StatusKinematics.LinkConstellation Joint position <TO>.FlangeInKcs Current transformation frame (with dynamics, setpoint reference) Function Manual, 12/2017, A5E AA 129

130 Basics 3.9 Kinematics motions 3.9 Kinematics motions Brief description of kinematics motions With kinematics motions you move the kinematics through the three-dimensional space. Plan the kinematics motion in advance. Take into consideration the following: Reachable points of the kinematics Zones Transformation areas Joint position spaces Software limit switches of axes The orientation motion is the motion of the Cartesian orientation and is performed at the same time for the kinematics motion. When motions are smoothed, the orientation motion is also smoothed. When the kinematics motion stops, the orientation motion also stops. Reference system The target position and the target orientation you specify for a kinematics motion can relate to the world coordinate system (WCS) or an object coordinate system (OCS). 130 Function Manual, 12/2017, A5E AA

131 Basics 3.9 Kinematics motions Motion types Linear motion You can move a kinematics system with a linear motion. You define the linear motion using the Motion Control instructions "MC_MoveLinearAbsolute" (Page 212) and "MC_MoveLinearRelative" (Page 218). While the kinematics system is moved to an absolute position with a "MC_MoveLinearAbsolute" job, it is moved relative to the current position with a "MC_MoveLinearRelative" job. The kinematics system moves from the current position to the defined target position with a linear motion Circular motion You can move a kinematics system with a circular motion. You define the circular motion using the Motion Control instructions "MC_MoveCircularAbsolute" (Page 223) and "MC_MoveCircularRelative" (Page 231). While the kinematics system is moved to an absolute position with a "MC_MoveCircularAbsolute" job, it is moved relative to the current position with a "MC_MoveCircularRelative" job. Definition of circular path ("CircMode") With the "CircMode" parameter, you specify the definition of the circular path. Depending on this parameter value, the circular path is calculated as follows: Via an intermediate point and the end point ("CircMode" = 0) With the intermediate point, you specify a point on the circular path, via which the end point is to be approached. The circular path is calculated from the starting, intermediate and end points. Only circular paths less than 360 can be traversed here. Via the circle center and the angle in a main plane ("CircMode" = 1) The end point of the circular path is calculated with the circle center and the angle. With the "PathChoice" parameter, you specify whether the circular path is to be traversed in positive or negative direction of rotation. With the "CirclePlane" parameter, you specify the main plane in which the circular path is to be traversed. Via the circle radius and the end point in a main plane ("CircMode" = 2) The circular path is calculated with the circle radius and the end point. This can yield up to four possible circular paths. With the "PathChoice" parameter, you specify which of the four possible circular paths is to be traversed. With the "CirclePlane" parameter, you specify the main plane in which the circular path is to be traversed. When defining the intermediate and end points, circle center and angle or circle radius and end point, ensure that the information is consistent. Function Manual, 12/2017, A5E AA 131

132 Basics 3.9 Kinematics motions Orientation direction of the circular path ("PathChoice") When the circular path is to be calculated using circle center and the angle, you use the "PathChoice" parameter to define whether the circular path is to be traversed in positive or negative direction of rotation. 1 Positive direction of rotation ("PathChoice" = 0) End point Circle center Starting point End point 6 Positive direction of rotation ("PathChoice" = 1) 132 Function Manual, 12/2017, A5E AA

133 Basics 3.9 Kinematics motions When the circular path is to be calculated using the circle radius and the end point, you use the "PathChoice" parameter to define which of the four possible circular paths is to be traversed. A distinction is made here between the positive and negative direction of rotation as well as between the longer and shorter circle segment. 1 Longer positive circle segment ("PathChoice" = 2) 2 Shorter positive circle segment ("PathChoice" = 0) 3 Starting point 4 End point 5 Shorter negative circle segment ("PathChoice" = 1) 6 Longer negative circle segment ("PathChoice" = 3) Function Manual, 12/2017, A5E AA 133

134 Basics 3.9 Kinematics motions Motion dynamics Dynamics of kinematics motion and orientation motion You specify the dynamic values (velocity, acceleration, jerk) of a kinematics motion for the corresponding Motion Control instruction. Dynamic defaults If you do not specify any dynamic values for motion jobs (default value "-1.0"), the dynamic defaults configured under "Technology object > Configuration > Extended parameters > Dynamics" are used for the kinematics motion. For the orientation motion you can only specify the dynamic values using the dynamic defaults. If you change the dynamic defaults during an active motion, the changed values take effect only in the next motion job. Dynamic limits of the kinematics The configured dynamic limits of the kinematics configured under "Technology object > Configuration > Extended parameters > Dynamics" are taken into account during the motion execution. The dynamics of a motion can be restricted so that the dynamic limits of the kinematics are not exceeded. When you change the dynamic limits of the kinematics, the changes take effect immediately for the kinematics motion and orientation motion. Dynamic limits of the axes When a motion job is transmitted, the dynamic limits of the axes configured under "Technology object > Configuration > Extended parameters > Limits > Dynamic limits" are only taken into account if the Dynamic adaptation is active. The dynamics of the motion can be restricted so that the dynamic limits of the axes are not exceeded. When you change the dynamic limits of the axes during an active motion, the changed values only take effect with the next motion job. 134 Function Manual, 12/2017, A5E AA

135 Basics 3.9 Kinematics motions Dynamic adaptation You set the dynamic adaptation under "Technology object > Configuration > Extended parameters > Dynamics". When dynamic adaptation is active, a velocity profile is calculated for the entire motion which takes into account the dynamic limits of the axes and the kinematics (<TO>.StatusPath.DynamicAdaption). Velocity and acceleration are included in the dynamic adaptation. Tangential and radial acceleration of the path is taken into account in acceleration. The jerk is not limited for dynamic adaptation. The graphic below shows examples of a velocity curve with and without dynamic adaptation: With dynamic adaptation Without dynamic adaption With dynamic adaptation without segmentation of the path, the velocity profile is calculated taking into consideration the dynamic limits of the axes which apply for the entire motion. For dynamic adaptation with segmentation, the path is divided into individual equidistant segments. For each of these segments, the velocity profile is calculated taking into consideration the dynamic limits of the axes which apply for individual sections of the motion. The dynamic response is therefore adapted for individual sections of a motion Override You can specify a velocity override for the kinematics (<TO>.Override.Velocity) using the technology object data block. You can specify a value between 0% and 200%. The velocity override acts on the velocity of the tool center point (TCP) along the path. If you change the velocity override of the kinematics, the change takes effect immediately for the kinematics motion and orientation motion. The setpoint velocity of the motion is the velocity specified for the Motion Control instruction multiplied by the percentage value of the velocity override. The axis-specific velocity override values do not take effect for kinematics motions. Function Manual, 12/2017, A5E AA 135

136 Basics 3.9 Kinematics motions Tags of motion control and dynamics The following technology object tags are relevant for motion control: Tag Status values <TO>.StatusWord <TO>.StatusPath.CoordSystem <TO>.Tcp <TO>.StatusPath.Velocity <TO>.StatusPath.Acceleration <TO>.StatusPath.DynamicAdaption <TO>.StatusMotionQueue.NumberOfCommands Override <TO>.Override.Velocity Dynamic limits <TO>.DynamicLimits.Path.Velocity <TO>.DynamicLimits.Path.Acceleration <TO>.DynamicLimits.Path.Deceleration <TO>.DynamicLimits.Path.Jerk <TO>.DynamicLimits.Orientation.Velocity <TO>.DynamicLimits.Orientation.Acceleration <TO>.DynamicLimits.Orientation.Deceleration <TO>.DynamicLimits.Orientation.Jerk Dynamic defaults <TO>.DynamicDefaults.Path.Velocity <TO>.DynamicDefaults.Path.Acceleration <TO>.DynamicDefaults.Path.Deceleration <TO>.DynamicDefaults.Path.Jerk <TO>.DynamicDefaults.Orientation.Velocity <TO>.DynamicDefaults.Orientation.Acceleration <TO>.DynamicDefaults.Orientation.Deceleration Description Status indicator for an active motion Coordinate system of the active motion job 0 World coordinate system 1, 2, 3 Object coordinate system 1, 2, 3 Target coordinates of the kinematics motion in the world coordinate system x, y, z, A Current path velocity (setpoint reference) Current path acceleration (setpoint reference) Dynamic adaptation 0 No dynamic adaptation 1 Dynamic adaptation with segmentation of the path 2 Dynamic adaptation without segmentation of the path Number of jobs in the job sequence Velocity override Dynamic limitation for the maximum velocity of the path Dynamic limitation for the maximum acceleration of the path Dynamic limitation for the maximum deceleration of the path Dynamic limitation for the maximum jerk of the path Dynamic limitation for the maximum velocity of the Cartesian orientation Dynamic limitation for the maximum acceleration of the Cartesian orientation Dynamic limitation for the maximum deceleration of the Cartesian orientation Dynamic limitation for the maximum jerk of the Cartesian orientation Default setting of the velocity of the path Default setting of the acceleration of the path Default setting of the deceleration of the path Default setting of the jerk of the path Default setting of the velocity of the Cartesian orientation Default setting of the acceleration of the Cartesian orientation Default setting of the deceleration of the Cartesian orientation 136 Function Manual, 12/2017, A5E AA

137 Basics 3.10 Zone monitoring Tag <TO>.DynamicDefaults.Orientation.Jerk <TO>.DynamicDefaults.DynamicAdaption Description Default setting of the jerk of the Cartesian orientation Default setting of the dynamic adaptation 0 No dynamic adaptation 1 Dynamic adaptation with segmentation of the path 2 Dynamic adaptation without segmentation of the path 3.10 Zone monitoring Brief description of zone monitoring The zone monitoring has the following purposes: Protection from collisions with mechanical installations Triggering of process-related actions (signal zones) WARNING No protection of personnel The zone monitoring is not suitable for protection of personnel. Implement suitable protective measures for protecting personnel, e.g. set up protective fences, install safety doors, etc. Zones are geometric bodies you can use to describe and subdivide the workspace of a kinematics system. You can configure workspace zones and kinematics zones on the kinematics technology object. Workspace zones describe the environment of a kinematics system. Kinematics zones envelope the end point of a kinematics system (flange or tool). Function Manual, 12/2017, A5E AA 137

138 Basics 3.10 Zone monitoring The following graphic shows the zones of a kinematics system: Work zone Signal zone Blocked zone Flange zone and tool zone Zone configuration You can specify and activate/deactivate zones via the configuration of the kinematics technology object or in your user program using Motion Control instructions (Page 239). 138 Function Manual, 12/2017, A5E AA

139 Basics 3.10 Zone monitoring Zone monitoring The zone monitoring checks all activated workspace zones (work zones, signal zones, blocked zones) for collision with all activated kinematics zones (flange zones, tool zones). The zone monitoring monitors the zones for all motions of the kinematics system: Kinematics motions via the user program or kinematics control panel Single axis motions via the user program or axis control panel The status of the zone monitoring is indicated in the diagnostics (Page 203) and in the tags (Page 146) of the kinematics technology object. If the zone monitoring detects a zone violation by a kinematics motion, the following reactions occur: Zone violation Reaction Description Exiting the work zone Alarm with The kinematics technology object outputs a technology stop alarm. The kinetic motion will be stopped. Entering an signal zone Alarm without stop Entering an blocked zone Alarm with stop The kinematics technology object outputs a technology alarm. The kinematics motion will be continued. The kinematics technology object outputs a technology alarm. The kinetic motion will be stopped. The kinematics violates the zone by the length of the brake path at a minimum. The kinematics technology object outputs a technology alarm following zone violations by single axis motions. The positioning axis/synchronous axis technology object outputs a technology alarm. The single axis motion is not aborted. You can abort the single axis motion in the application. In addition to the zones of the kinematics technology object, you limit the travel space of the kinematics by the software limit switches of the axes. Function Manual, 12/2017, A5E AA 139

140 Basics 3.10 Zone monitoring Retracting after a zone violation Once you have acknowledged the technology alarm on the kinematics technology object, you can move the kinematics system again. NOTICE Zone monitoring for violated zone deactivated after acknowledgment After you have acknowledged the technology alarm on the kinematics technology object, the zone monitoring is deactivated for the violated zone until the kinematics exits the violated blocked zone / signal zone or enters the violated work zone again. You can move the kinematics in all directions including again into the violated blocked zone / signal zone or from the work zone. Take into consideration the travel direction when retracting the kinematics. Monitor retraction in the application. The zone monitoring status is still displayed in the data block technology object. After the kinematics has exited the violated blocked zone / signal zone again or entered the violated work zone again, zone monitoring is activated again for this zone. A new technology alarm is therefore triggered when the zone is violated again. See also Tags for zone monitoring (Page 146) 140 Function Manual, 12/2017, A5E AA

141 Basics 3.10 Zone monitoring Workspace zones Workspace zones describe the environment of a kinematics system. You define workspace zones in the world coordinate system (WCS) or in the object coordinate system (OCS). You can configure and activate/deactivate up to ten workspace zones. The following table shows the workspace zones of the kinematics technology object: Workspace zone Work zone Signal zone Description Work zones define areas in which kinematics zones may move. Signal zones indicate the following: Kinematics zone is entering the signal zones Kinematics zone is located in the signal zone Blocked zone Blocked zones define areas in which a kinematics zone must not enter. Work zone With work zones you limit the possible travel space of the kinematics or define several possible work areas. You can specify several work zones. Only one work zone may be activated at a given time. If no work zone is activated, the entire traversing space of the kinematics is regarded as the work area. Kinematics zones must be located within work zones. When a kinematics zone exits a work zone, the kinematics technology object outputs the technology alarm 806 (alarm reaction: Stop with maximum dynamic values of the kinematics). The axes involved in the kinematics motion stop with the maximum dynamic values configured for the kinematics technology object. All jobs in the job sequence are canceled. Signal zone Signal zones are areas within the traversing space of the kinematics. Signal zones indicate a zone violation by a kinematics zone but do not trigger a stop of the kinematics motion. Signal zones can be located outside the work zone to some extent. When a kinematics zone violates an signal zone, the kinematics technology object outputs the technology alarm 807 (no alarm reaction). Blocked zone Blocked zones are areas within the traversing space of the kinematics in which a kinematics zone must not enter (e.g. control cabinet, protective wall). Blocked zones can be located outside the work zone to some extent. When a kinematics zone violates an blocked zone, the kinematics technology object outputs the technology alarm 806 (alarm reaction: Stop with maximum dynamic values of the kinematics). The axes involved in the kinematics motion stop with the maximum dynamic values configured for the kinematics technology object. All jobs in the job sequence are canceled. Function Manual, 12/2017, A5E AA 141

142 Basics 3.10 Zone monitoring Kinematics zones Kinematics zones are related to the working point / flange of a kinematics and move with the kinematics. The zone monitoring checks the kinematics zones for penetration with workspace zones. With kinematics zones you expand the monitored area beyond the tool center point (TCP). You can configure and activate/deactivate up to nine kinematics zones. The following table shows the kinematics zones of the kinematics technology object: Kinematics zone Reference system Description Tool zone TCS Tool zones envelope the tool or parts of the tool. Flange zone FCS Flange zones envelope the flange or parts of the flange. Tool zone You define tool zones in the tool coordinate system (TCS). The following graphic shows a spherical tool zone: 142 Function Manual, 12/2017, A5E AA

143 Basics 3.10 Zone monitoring Flange zone You define flange zones in the flange coordinate system (FCS). The following graphic shows a cylindrical flange zone: In this example, a shift by the height of the flange zone in negative z direction of the FCS has been defined. Function Manual, 12/2017, A5E AA 143

144 Basics 3.10 Zone monitoring Zone geometry You can configure zones with the following geometric bodies: Sphere Cuboid Cylinder You specify the position of the zero point of the zone coordinate system in the reference coordinate system. You specify the dimensions and rotation of the body starting from this zero point. Sphere You define a sphere starting from the zero point using the radius: r Radius of the sphere 144 Function Manual, 12/2017, A5E AA

145 Basics 3.10 Zone monitoring Cuboid You define a cuboid starting from the zero point using the edge lengths in x, y and z direction: dimx dimy dimz Edge length in x direction of the zone coordinate system Edge length in y direction of the zone coordinate system Edge length in z direction of the zone coordinate system Cylinder You define a cylinder starting from the zero point using the radius of the base and the cylinder height: r h Radius of the base of the cylinder Height of the cylinder in z direction of the zone coordinate system Function Manual, 12/2017, A5E AA 145

146 Basics 3.10 Zone monitoring Tags for zone monitoring The following tags of the kinematics technology object are relevant for the zone monitoring: Tag Zone configuration <TO>.WorkspaceZone[1..10] <TO>.KinematicsZone[2..10] Status values <TO>.StatusWorkspaceZone[1..10] <TO>.StatusKinematicsZone[2..10] <TO>.StatusZoneMonitoring.WorkingZones <TO>.StatusZoneMonitoring.BlockedZones <TO>.StatusZoneMonitoring.SignalizingZones <TO>.StatusZoneMonitoring.KinematicsZones Description Configuration of the workspace zones Configuration of the kinematics zones The <TO>.KinematicsZone[1] zone is the tool center point (TCP) and is always activated. Status of the workspace zones Status of the kinematics zones Display of violated work zones The bit numbers 1 to 10 correspond to the configured zone numbers. Display of violated blocked zones The bit numbers 1 to 10 correspond to the configured zone numbers. Display of approached signal zones The bit numbers 1 to 10 correspond to the configured zone numbers. Display of kinematics zones that violate workspace zones The bit number 1 indicates the monitoring status of the TCP. The bit numbers 2 to 10 correspond to the configured zone numbers. 146 Function Manual, 12/2017, A5E AA

147 Version overview 4 For S7-1500T Motion Control, a distinction is made between the version of the technology, the technology objects and the Motion Control instructions. The version of a technology object or a Motion Control instruction is indicated in the properties of the technology object in the "General > Information" tab, "Version" field. Compatibility list The table below shows the compatibility of the technology version with the CPU version: CPU Technology Technology object Motion Control instruction V2.5 V4.0 Kinematics V4.0 MC_GroupInterrupt V4.0 MC_GroupContinue V4.0 MC_GroupStop V4.0 MC_MoveLinearAbsolute V4.0 MC_MoveLinearRelative V4.0 MC_MoveCircularAbsolute V4.0 MC_MoveCircularAbsolute V4.0 MC_DefineWorkspaceZone V4.0 MC_DefineKinematicsZone V4.0 MC_SetWorkspaceZoneActive V4.0 MC_SetWorkspaceZoneInactive V4.0 MC_SetKinematicsZoneActive V4.0 MC_SetKinematicsZoneInactive V4.0 MC_DefineTool V4.0 MC_SetTool V4.0 MC_SetOcsFrame V4.0 Function Manual, 12/2017, A5E AA 147

148 Configuring Adding a kinematics technology object The following describes how to add a kinematics technology object in the project tree. Requirement A project with a CPU S7-1500T is created. Procedure To add a kinematics technology object, follow these steps: 1. Open the CPU's folder in the project navigator. 2. Open the "Technology Objects" folder. 3. Double-click "Add new object". The "Add new object" dialog opens. 4. Select "TO_Kinematics". You can infer the function of the technology object from the displayed description. 5. In the "Name" input field, adapt the name of the kinematics to your requirements. 6. To change the suggested data block number, select the "Manual" option. 7. To add your own information about the technology object, click "Additional information". 8. To open the configuration after adding the technology object, select the "Add new and open" check box. 9. To add the technology object, click "OK". Result The new kinematics technology object was created and placed in the "Technology objects" folder of the project tree. 148 Function Manual, 12/2017, A5E AA

149 Configuring 5.2 Configuring the kinematics technology object 5.2 Configuring the kinematics technology object Configuration - Basic Parameters Configure the basic properties of the kinematics technology object in the "Basic Parameters" configuration window. Kinematics name Define the name of the kinematics in this field. The technology object is listed under this name in the project tree. The variables of the technology object can be used in the user program under this name. Kinematics type Select the desired kinematics type (Page 34) in this drop-down list. Measuring units In the drop-down list, select the desired units of measure (Page 23) for the position, velocity, angle and angular velocity of the kinematics Configuration - Interconnections Configure the axes of kinematics in the "Interconnections" configuration window. Kinematics axes You can interconnect a kinematics technology object with positioning axes and synchronous axes which are already created in the project. In the drop-down list, select the desired axes depending on the kinematics type (Page 34). You can directly call the configuration of the selected technology object using the button. Configure the interconnected technology objects as linear or rotary axes according to the kinematics type. Depending on the kinematics type, the following kinematics axes are relevant: Kinematics type Kinematics axis A1 Kinematics axis A2 Kinematics axis A3 Orientation axis A4 2D x x - - 2D with orientation x x - x 3D x x x - 3D with orientation x x x x x relevant - Not relevant Function Manual, 12/2017, A5E AA 149

150 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry Configuration - Geometry (Cartesian portal) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS) depending on the kinematics type: Kinematics type "Cartesian portal 2D" and "Cartesian portal 2D with orientation" Field Length L1 Length L2 Flange length LF Description Define the distance of the zero position of the A1 axis to the kinematics zero point (KZP) in x direction of the KCS Define the distance of the zero position of the A2 axis to the kinematics zero point in z direction of the KCS Define the distance of the flange coordinate system (FCS) from the axis A2 in the negative z direction of the KCS in this field. Kinematics type "Cartesian portal 3D" and "Cartesian portal 3D with orientation" Field Length L1 Length L2 Length L3 Flange length LF Description Define the distance of the zero position of the A1 axis to the kinematics zero point in x direction of the KCS in this field. Define the distance of the zero position of the A2 axis to the kinematics zero point in y direction of the KCS in this field. Define the distance of the zero position of the A3 axis to the kinematics zero point in z direction of the KCS in this field. Define the distance of the flange coordinate system from the axis A3 in the negative z direction of the KCS in this field. 150 Function Manual, 12/2017, A5E AA

151 Configuring 5.2 Configuring the kinematics technology object Display in kinematics trace In these fields, define the scaling in which the kinematics is displayed in the kinematics trace, depending on the kinematics type: Kinematics type "Cartesian portal 2D" and "Cartesian portal 2D with orientation" Field x minimum x maximum z minimum z maximum Description Define the dimensioning of the kinematics in the negative x direction in this field. Define the dimensioning of the kinematics in the positive x direction in this field. Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. Kinematics type "Cartesian portal 3D" and "Cartesian portal 3D with orientation" Field x minimum x maximum y minimum y maximum z minimum z maximum Description Define the dimensioning of the kinematics in the negative x direction in this field. Define the dimensioning of the kinematics in the positive x direction in this field. Define the dimensioning of the kinematics in the negative y direction in this field. Define the dimensioning of the kinematics in the positive y direction in this field. Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. See also Cartesian portal (Page 36) Function Manual, 12/2017, A5E AA 151

152 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (roller picker) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS) depending on the kinematics type: Kinematics type "Roller picker 2D" and "Roller picker 2D with orientation" Field Radius R1 Radius R2 Length L1 Length L2 Flange length LF Description Define the cam radius for the axis A1 in this field. Define the cam radius for the axis A2 in this field. Define the distance of the flange coordinate system (FCS) to the kinematics zero point (KZP) in x direction of the KCS on zero position of the axes A1 and A2 in this field. Define the distance of the FCS to the kinematics zero point including the flange length LF in x direction of the KCS on zero position of the axes A1 and A2 in this field. Define the flange length before the FCS in the negative z direction of the KCS in this field. Kinematics type "Roller picker 3D (vertical)", and "Roller picker 3D with orientation (vertical)" and "Roller picker 3D with orientation (horizontal)" Field Radius R1 Radius R2 Length L1 Length L2 Length L3 Flange length LF Description Define the cam radius for the axis A1 in this field. Define the cam radius for the axis A2 in this field. Define the distance of the FCS to the kinematics zero point in x direction of the KCS in this field. For kinematics type "Roller picker 3D (vertical)" and "Roller picker 3D with orientation (vertical)": Define the distance of the A3 axis to the kinematics zero point in y direction of the KCS in this field. For kinematics type "Roller picker 3D with orientation (horizontal)": Define the distance of the FCS to the kinematics zero point in y direction of the KCS in this field. For kinematics type "Roller picker 3D (vertical)" and "Roller picker 3D with orientation (vertical)": Define the distance of the FCS to the kinematics zero point in z direction of the KCS in this field. For kinematics type "Roller picker 3D with orientation (horizontal)": Define the distance of the A3 axis to the kinematics zero point in z direction of the KCS in this field. Define the flange length before the FCS in the negative z direction of the KCS in this field. 152 Function Manual, 12/2017, A5E AA

153 Configuring 5.2 Configuring the kinematics technology object Display in kinematics trace In these fields, define the scaling in which the kinematics is displayed in the kinematics trace, depending on the kinematics type: Kinematics type "Roller picker 2D" and "Roller picker 2D with orientation" Field x minimum x maximum z minimum z maximum Description Define the dimensioning of the kinematics in the negative x direction in this field. Define the dimensioning of the kinematics in the positive x direction in this field. Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. Kinematics type "Roller picker 3D (vertical)", and "Roller picker 3D with orientation (vertical)" and "Roller picker 3D with orientation (horizontal)" Field x minimum x maximum y minimum y maximum z minimum z maximum Description Define the dimensioning of the kinematics in the negative x direction in this field. Define the dimensioning of the kinematics in the positive x direction in this field. Define the dimensioning of the kinematics in the negative y direction in this field. Define the dimensioning of the kinematics in the positive y direction in this field. Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. See also Roller picker (Page 47) Function Manual, 12/2017, A5E AA 153

154 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (SCARA) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS): Field Length L1 Length L2 Length L3 Flange length LF Description Define the distance of the A1 axis to the kinematics zero point (KZP) in z direction of the KCS Define the distance of the A1 axis to the A2 axis in x direction of the KCS in this field. Define the distance of the A2 axis to the A3 axis in x direction of the KCS in this field. Define the distance of the flange coordinate system (FCS) from the axis A3 in the negative z direction of the KCS in this field. Mechanical axis coupling The kinematics transformation compensates for the configured mechanical axis couplings. You can configure the following mechanical coupled axes for the kinematics: Mechanical coupling of axis A1 to axis A2 Mechanical coupling of axis A4 to axis A3 Enter the desired coupling factor in the "Compensation factor" fields. Display in kinematics trace In these fields, define the scaling in which the kinematics is displayed in the kinematics trace: Field z minimum z maximum Description Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. See also SCARA (Page 62) 154 Function Manual, 12/2017, A5E AA

155 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (articulated arm) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS) depending on the kinematics type: Kinematics type "Articulated arm 2D" and "Articulated arm 2D with orientation" Field Length L1 Length L2 Length L3 Length L4 Flange length LF Description Define the distance of the A1 axis from the kinematics zero point (KZP) in z direction of the KCS Define the distance of the A1 axis from the kinematics zero point in x direction of the KCS Define the distance of the A2 axis from the A1 axis in this field. Define the distance of the forced coupler point from the A2 axis in this field. Define the distance of the flange coordinate system (FCS) from the forced coupler point in the negative z direction of the KCS in this field. Kinematics type "Articulated arm 3D" and "Articulated arm 3D with orientation" Field Length L1 Length L2 Length L3 Length L4 Flange length LF Description Define the distance of the A2 axis from the kinematics zero point in x direction of the KCS in this field. Define the distance of the A2 axis from the kinematics zero point in x direction of the KCS Define the distance of the A3 axis from the A2 axis in this field. Define the distance of the forced coupler point from the A3 axis in this field. Define the distance of the FCS from the forced coupler point in the negative z direction of the KCS in this field. Function Manual, 12/2017, A5E AA 155

156 Configuring 5.2 Configuring the kinematics technology object Mechanical axis coupling The kinematics transformation compensates for the configured mechanical axis couplings. You can configure the following mechanical coupled axes, depending on the kinematics type: Kinematics type "Articulated arm 2D" and "Articulated arm 2D with orientation": Mechanical coupling of axis A1 to axis A2 Kinematics type "Articulated arm 3D" and "Articulated arm 3D with orientation": Mechanical coupling of axis A2 to axis A3 Enter the required coupling factor in the "Compensation factor" field. See also Articulated arm (Page 68) 156 Function Manual, 12/2017, A5E AA

157 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (delta picker) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS) depending on the kinematics type: Kinematics type "Delta picker 2D" and "Delta picker 2D with orientation" Field Length L1 Length L2 Flange length LF Distance D1 Distance D2 Description Define the length of the upper arms in this field. Define the length of the connecting rods in this field. Define the distance of the flange coordinate system (FCS) from the lower connecting plate in the negative z direction of the KCS in this field. Define the distance of the axes to the middle of the upper connecting plate (radius of the upper connecting plate) in this field. In this field, you can define the distance of the hinge points of the connecting rods to the lower connecting plate (radius of the lower connecting plate) in this field. Kinematics type "Delta picker 3D" and "Delta picker 3D with orientation" Field Length L1 Length L2 Flange length LF Distance D1 Distance D2 Angle A1 to A2 Angle A2 to A3 Description Define the length of the upper arms in this field. Define the length of the connecting rods in this field. Define the distance of the FCS from the lower connecting plate in the negative z direction of the KCS in this field. Define the distance of the axes to the middle of the upper connecting plate (radius of the upper connecting plate) in this field. In this field, you can define the distance of the hinge points of the connecting rods to the lower connecting plate (radius of the lower connecting plate) in this field. Define the angle between the axes A1 and A2 in this field. Define the angle between the axes A2 and A3 in this field. See also Delta picker (Page 85) Function Manual, 12/2017, A5E AA 157

158 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (cylindrical robot) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS): Field Length L1 Length L2 Flange length LF Description Define the distance of the zero position of the A2 axis from the kinematics zero point (KZP) in z direction of the KCS Define the distance of the A3 axis from the kinematics zero point in y direction of the KCS Define the distance of the flange coordinate system (FCS) from the axis A3 in the negative z direction of the KCS in this field. Mechanical axis coupling The kinematics transformation compensates for the configured mechanical axis couplings. You can configure the following mechanical axis coupling for the kinematics type "Cylindrical robot 3D with orientation": Mechanical coupling of axis A4 to axis A2 Enter the required coupling factor in the "Compensation factor" field. Display in kinematics trace In these fields, define the scaling in which the kinematics is displayed in the kinematics trace: Field z minimum z maximum A3 maximum Description Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. Define the maximum traversing length of the A3 axis in this field. See also Cylindrical robot (Page 97) 158 Function Manual, 12/2017, A5E AA

159 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (tripod) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In these fields, define the transformation parameters of the kinematics in the kinematics coordinate system (KCS): Field Length L1 Flange length LF Distance D1 Distance D2 Angle between Axis A1 and the xy plane of the KCS Angle A1 to A2 Angle A2 to A3 Description Define the length of the connecting rods in this field. Define the distance of the flange coordinate system (FCS) from the lower connecting plate in the negative z direction of the KCS in this field. Define the distance of the upper hinge points of the connecting rods to the center of the upper connecting plate in this field. Define the distance of the lower hinge points of the connecting rods to the center of the lower connecting plate in this field. Define the angle between the upper connecting plate (xy plane of the KCS) and the rail of the axis A1 (0.0 γ < 90.0 ) in this field. Define the angle between the axes A1 and A2 in this field. Define the angle between the axes A2 and A3 in this field. See also Tripod (Page 107) Function Manual, 12/2017, A5E AA 159

160 Configuring 5.2 Configuring the kinematics technology object Configuration - Geometry (user-defined) Configure the geometric parameters of kinematics in the "Geometry" configuration window. Transformation parameters In this table, define the start values of the parameters 1 to 32 of the kinematics (<TO>.Kinematics.Parameter[1..32]). Display in kinematics trace In these fields, define the scaling in which the kinematics is displayed in the kinematics trace, depending on the kinematics type: Kinematics type "User-defined 2D" and "User-defined 2D with orientation" Field x minimum x maximum z minimum z maximum Description Define the dimensioning of the kinematics in the negative x direction in this field. Define the dimensioning of the kinematics in the positive x direction in this field. Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. Kinematics type "User-defined 3D" and "User-defined 3D with orientation" Field x minimum x maximum y minimum y maximum z minimum z maximum Description Define the dimensioning of the kinematics in the negative x direction in this field. Define the dimensioning of the kinematics in the positive x direction in this field. Define the dimensioning of the kinematics in the negative y direction in this field. Define the dimensioning of the kinematics in the positive y direction in this field. Define the dimensioning of the kinematics in the negative z direction in this field. Define the dimensioning of the kinematics in the positive z direction in this field. See also User-defined kinematics systems (Page 115) 160 Function Manual, 12/2017, A5E AA

161 Configuring 5.2 Configuring the kinematics technology object Extended parameters Configuration - Dynamics In the "Dynamics" configuration window, configure the default values for the dynamics, the dynamic limits and the dynamic adaptation of the kinematics motion and the orientation motion. Presets and limits In order to define the default values for the kinematics motion, select the entry "Kinematics motion" in the "Settings" drop-down list. In order to define the default values for the orientation motion, select the entry "Orientation motion" in the "Settings" drop-down list. Define the default values of the dynamics in the "Velocity", "Acceleration", "Deceleration" and "Jerk" fields. Kinematics motion jobs triggered in the user program are executed with these default values if no separate dynamics values are defined for the jobs. Define the default values of the dynamic limits in the "Maximum velocity", "Maximum acceleration", "Maximum deceleration" and "Maximum jerk" fields. Dynamic adaptation Select the default for the dynamics adaptation in the drop-down list. When dynamic adaptation is active, a velocity profile is calculated for the entire motion which takes into account the dynamic limits of the axes and the kinematics. Mode Do not limit Limit with segmentation of the path Limit without segmentation of the path Description The dynamic limits of the axes are not taken into consideration. The path is divided into segments. For each of these segments, the dynamic is adapted in such a way that the dynamic limits of the axes are not exceeded. The dynamic is adapted in such a way that the dynamic limits of the axes are not exceeded over the entire path. See also Dynamics of kinematics motion and orientation motion (Page 134) Function Manual, 12/2017, A5E AA 161

162 Configuring 5.2 Configuring the kinematics technology object Configuration - Kinematics coordinate system In the "Kinematics coordinate system" configuration window, configure the KCS frame (Page 30) and therefore the position of the kinematics coordinate system (KCS) in the world coordinate system (WCS). Kinematics zero point in the WCS In these fields, define the position of the kinematics coordinate system: Field x position y position z position Description Define the shift of the KCS in x direction of the WCS in this field. Define the shift of the KCS in y direction of the WCS in this field. Define the shift of the KCS in z direction of the WCS in this field. Rotation of KCS In these fields, define the rotation of the kinematics coordinate system: Field Rotation A Rotation B Rotation C Description Define the rotation of the KCS around the z axis in this field. Define the rotation of the KCS around the y axis in this field. Define the rotation of the KCS around the x axis in this field. See also Overview of coordinate systems and frames (Page 25) 162 Function Manual, 12/2017, A5E AA

163 Configuring 5.2 Configuring the kinematics technology object Configuration - Object coordinate systems In the "Object coordinate system" configuration window, configure the OCS frames (Page 30) and therefore the position of the object coordinate system (OCS) in the world coordinate system (WCS). Object coordinate system (OCS) Select the object coordinate system to be defined in this drop-down list. You can define up to three tool object coordinate systems. OCS in the world coordinate system (WCS) In these fields, define the position of the selected object coordinate system: Field x position y position z position Rotation A Rotation B Rotation C Description Define the shift of the OCS in x direction of the WCS in this field. Define the shift of the OCS in y direction of the WCS in this field. Define the shift of the OCS in z direction of the WCS in this field. Define the rotation of the OCS around the z axis in this field. Define the rotation of the OCS around the y axis in this field. Define the rotation of the OCS around the x axis in this field. See also Overview of coordinate systems and frames (Page 25) Function Manual, 12/2017, A5E AA 163

164 Configuring 5.2 Configuring the kinematics technology object Configuration- Tools In the "Tools" configuration window, configure the tool frames (Page 30) and also the position of the tool center point (TCP) of the tools in the flange coordinate system (FCS). Tools Select the tool to be defined in this drop-down list. You can define up to three tools. Tool center point in the FCS In these fields, define the position of the tool center point of the selected tool: Field x position y position z position Rotation A Description Define the shift of the TCP in x direction of the FCS in this field. Define the shift of the TCP in y direction of the FCS in this field. Define the shift of the TCP in z direction of the FCS in this field. Define the rotation of the TCP around the z axis in this field. See also Overview of coordinate systems and frames (Page 25) 164 Function Manual, 12/2017, A5E AA

165 Configuring 5.2 Configuring the kinematics technology object Configuration - Zones Configure the workspace zones and kinematics zones of the technology object in the "Zones" configuration window. The configuration window is divided into the following areas: Graphic view Tabular editor Workspace zones Kinematics zones Graphic view The workspace zones or the kinematics zones, which you define in the corresponding tabular editor, are displayed in the graphic view. You can rotate the view and zoom in and out using the mouse. The toolbar at the top of the graphical editor provides you with buttons for the following functions, depending on the respective tabular editor: Button Function Description Fit to screen size The view is displayed adapted to the size of the window. Show / hide grid Select the coordinate system. Select tool Show 2D view Show 3D view Show xy plane Show xy plane rotated Show xz plane Show xz plane rotated Show xz plane rotated Show xz plane rotated The grid lines of the coordinate system are hidden/displayed. Select a coordinate system. Select a tool. The 2D display is shown. The 3D display is shown. The xy plane is displayed. The xy plane is displayed rotated around the x-axis. The xz plane is displayed. The xz plane is displayed rotated around the z-axis. The xz plane is displayed rotated around the x-axis. The xz plane is displayed rotated around the x-axis and the z-axis. Function Manual, 12/2017, A5E AA 165

166 Configuring 5.2 Configuring the kinematics technology object Button Function Description Show yz plane The yz plane is displayed. Show yz plane rotated Show yz plane rotated Show yz plane rotated The yz plane is displayed rotated around the z-axis. The yz plane is displayed rotated around the y-axis. The yz plane is displayed rotated around the y-axis and the z-axis. 166 Function Manual, 12/2017, A5E AA

167 Configuring 5.2 Configuring the kinematics technology object Workspace zones Workspace zones (Page 141) describe the environment of a kinematics system. You can configure up to ten workspace zones in the table. Column Visible Number Status Zone type Geometry Description You show and hide the zone in the top view using the symbol in this column. This column displays the zone number. Select the activation status of the zone in this column. Active Zone monitoring is activated for the zone. You can deactivate the zone in your user program via an "MC_SetWorkspaceZoneInactive" job (Page 247). Inactive Zone monitoring is deactivated for the zone. You can activate the zone in your user program via an "MC_SetWorkspaceZoneActive" job (Page 245). Invalid The zone is not defined. You can define the zone in your user program via an "MC_DefineWorkspaceZone" job (Page 239). Select the type of the zone in this column. Work zone Work zones define areas in which kinematics zones may move. You can specify several work zones. Only one work zone may be activated at a given time, however. If no work zone is activated, the entire traversing space of the kinematics is regarded as the work area. Blocked zone Blocked zones define areas in which a kinematics zone must not enter. Signal zone Signal zones are areas within the traversing space of the kinematics. Signal zones indicate a zone violation by a kinematics zone but do not trigger a stop of the kinematics motion. Select the geometry of the zone (Page 144) in this column. Sphere Cuboid Cylinder Length Width Height With a cuboid-shaped zone, define the length of the zone in x direction in this column. With a cuboid-shaped zone, define the width of the zone in y direction in this column. With a cuboid-shaped zone, define the height of the zone in z direction in this column. With a cylindrical zone, define the height of the zone in z direction in this column. Function Manual, 12/2017, A5E AA 167

168 Configuring 5.2 Configuring the kinematics technology object Column Radius CS x y z A B C Description With a spherical zone, define the radius of the zone in this column. With a cylindrical zone, define the radius of the zone in this column. Select the reference coordinate system in this column. WCS World coordinate system OCS 1 Object coordinate system 1 OCS 2 Object coordinate system 2 OCS 3 Object coordinate system 3 Define the position of the zone in x direction in this column. Define the position of the zone in y direction in this column. Define the position of the zone in z direction in this column. Define the rotation of the zone around the z-axis in this column (not relevant for a spherical zone). Define the rotation of the zone around the y-axis in this column (not relevant for a spherical zone). Define the rotation of the zone around the x-axis in this column (not relevant for a spherical zone). 168 Function Manual, 12/2017, A5E AA

169 Configuring 5.2 Configuring the kinematics technology object Kinematics zones Kinematics zones (Page 142) are related to the working point / flange of a kinematics system and move with the kinematics. The zone monitoring checks the kinematics zones for penetration with workspace zones. You can configure up to ten kinematics areas in the table. Column Visible Number Status Zone type Geometry Description You show and hide the zone in the top view using the symbol in this column. This column displays the zone number. Select the activation status of the zone in this column. Active Zone monitoring is activated for the zone. You can deactivate the zone in your user program via an "MC_SetKinematicsZoneInactive" job (Page 251). Inactive Zone monitoring is deactivated for the zone. You can activate the zone in your user program via an "MC_SetKinematicsZoneActive" job (Page 249). Invalid The zone is not defined. You can define the zone in your user program via an "MC_DefineKinematicsZone" job (Page 242). Select the type of the zone in this column. Flange zone Flange zones envelope the flange or parts of the flange. Tool zone Tool zones envelope the tool or parts of the tool. Select the geometry of the zone (Page 144) in this column. Sphere Cuboid Cylinder Length Width Height Radius CS x y z With a cuboid-shaped zone, define the length of the zone in x direction in this column. With a cuboid-shaped zone, define the width of the zone in y direction in this column. With a cuboid-shaped zone, define the height of the zone in z direction in this column. With a cylindrical zone, define the height of the zone in z direction in this column. With a spherical zone, define the radius of the zone in this column. With a cylindrical zone, define the radius of the zone in this column. Select the reference coordinate system in this column. FCS Flange coordinate system (FCS) TCS Tool coordinate system Define the position of the zone in x direction in this column. Define the position of the zone in y direction in this column. Define the position of the zone in z direction in this column. Function Manual, 12/2017, A5E AA 169

170 Configuring 5.3 Copying a kinematics technology object Column A B C Description Define the rotation of the zone around the z-axis in this column (not relevant for a spherical zone). Define the rotation of the zone around the y-axis in this column (not relevant for a spherical zone). Define the rotation of the zone around the x-axis in this column (not relevant for a spherical zone). See also Brief description of zone monitoring (Page 137) 5.3 Copying a kinematics technology object The following describes how to copy a kinematics technology object in the project tree. Requirement A project with a CPU S7-1500T is created. A kinematics technology object is created in the project. Procedure To copy a kinematics technology object, follow these steps: 1. Open the CPU's folder in the project navigator. 2. Open the "Technology Objects" folder. 3. Select the kinematics technology object to be copied. 4. To also copy the connected axes, select them as well. To select multiple axes, press and hold down the <Ctrl> key. 5. Select "Copy" in the shortcut menu. 6. Select the "Technology objects" folder. 7. Select "Paste" in the shortcut menu. Result The selected kinematics technology object, together with any selected connected axes, are copied and created in the "Technology objects" folder of the project tree. 170 Function Manual, 12/2017, A5E AA

171 Configuring 5.4 Deleting a kinematics technology object 5.4 Deleting a kinematics technology object The following describes how to delete a kinematics technology object in the project tree. Requirement A project with a CPU S7-1500T is created. A kinematics technology object is created in the project. Procedure To delete a kinematics technology object, follow these steps: 1. Open the CPU's folder in the project navigator. 2. Open the "Technology Objects" folder. 3. Select the kinematics technology object to be deleted. 4. Select the "Delete" command in the shortcut menu. The "Confirm delete" dialog is opened. 5. To delete the technology object, click "Yes". Result The selected kinematics technology object has been deleted. The axes connected to the kinematics technology object are retained. 5.5 Toolbar of the configuration The following functions are available in the toolbar of the function view: Symbol Function Explanation Show online values Displays the current values read back from the CPU. Couples the function view and parameter view for the objects selected in the navigation Collapse/expand all nodes and objects Collapse/expand the nodes below the marked node Enables the targeted toggling between the parameter view and function-based view. Collapses or expands all nodes and objects of the navigation or the data structure in the currently active view. Collapses or expands the marked nodes and objects of the navigation or the data structure in the currently active view. Function Manual, 12/2017, A5E AA 171

172 Programming Introduction to the programming of the kinematics motions The "Programming" section contains general information on supplying and evaluating the Motion Control instructions. You can find an overview of the Motion Control instructions for the kinematics technology object in the "Functions" section (Page 19). You can use Motion Control instructions in the user program to transmit jobs to the technology object. You define the job with the input parameters of the Motion Control instructions. The current job status is indicated in the output parameters. Because the kinematics technology object groups the kinematics axes, you can assign the kinematics technology object directly to the input parameter "AxesGroup". You cannot enable the kinematics technology object itself using an "MC_Power" command or home it using an "MC_Home" job. For kinematics motions, the interconnected axes must be enabled ("MC_Power.Enable" = TRUE) or referenced instead. You can acknowledge errors of the kinematics technology object with an "MC_Reset" job or by restarting the technology object. 172 Function Manual, 12/2017, A5E AA

173 Programming 6.2 Job sequence 6.2 Job sequence Motion-relevant jobs are entered in the job sequence of the kinematics technology object. The following jobs enter the job sequence: Job "MC_MoveLinearAbsolute (Page 212)" "MC_MoveLinearRelative (Page 218)" "MC_MoveCircularAbsolute (Page 223)" "MC_MoveCircularRelative (Page 231)" "MC_DefineWorkspaceZone (Page 239)" "MC_DefineKinematicsZone (Page 242)" "MC_SetWorkspaceZoneActive (Page 245)" "MC_SetWorkspaceZoneInactive (Page 247)" "MC_SetKinematicsZoneActive (Page 249)" "MC_SetKinematicsZoneInactive (Page 251)" "MC_SetOcsFrame (Page 257)" Brief description Kinematics motions Zones Coordinate systems Position kinematics with linear path motion Relative positioning of kinematics with linear path motion Position kinematics with circular path motion Relative positioning of kinematics with circular path motion Define workspace zone Define kinematics zone Activate workspace zone Deactivate workspace zone Activate kinematics zone Deactivate kinematics zone Redefine object coordinate systems The jobs are processed in the same order in which they were entered in the job sequence. The order of the jobs cannot be changed subsequently. If another motion job is added to the job sequence, all jobs in the job sequence will be recalculated. The kinematics motion jobs do not cancel each other. Because all jobs in the job sequence are taken into account for preparing the motion and calculation of the velocity profile, even jobs with short traversing lengths and blend motions with higher velocities can be traversed than what is possible for individual motions. The current job is also included in the new calculation so that the current job can be blended with the next job. You can also interrupt execution of the jobs with an "MC_GroupInterrupt" job, fill the job sequence and then continue execution with an "MC_GroupContinue" job. By default, the job sequence can contain up to five jobs. You can change the maximum number of jobs (Page 270) using the parameter view. The job sequence can contain a maximum of ten jobs. See also Tag MotionQueue (kinematics) (Page 270) Function Manual, 12/2017, A5E AA 173

174 Programming 6.3 Motion status and remaining distance 6.3 Motion status and remaining distance You can obtain the status and the remaining distance of a motion job from the parameters of the corresponding Motion Control instruction. Status of a motion job You can identify the status of a motion job based on the "Busy" and "Active" parameters. When the job is transmitted, the "Busy" parameter is set to TRUE and the job is added to the job sequence. As long as the job is still in the job sequence, the "Active" parameter is set to FALSE. As soon as the job is active in the motion control, the "Active" parameter is set to TRUE. If the motion job is completed, the parameters "Busy" and "Active"are set to FALSE and the parameter "Done" to TRUE. All inactive jobs in the job sequence are recalculated if another motion job is added to the job sequence. The current job is also included in the new calculation so that the current job can be blended with the next job. If a motion control is interrupted by a "MC_GroupInterrupt" job, the jobs in the job sequence are only calculated when the motion control is continued with an "MC_GroupContinue" job. Remaining distance of a motion job You can obtain the remaining distance of a motion job from the "RemainingDistance" parameter. If the motion is not being blended, the "RemainingDistance" parameter contains the distance to the target position on the path. If the active motion is being blended with the next motion, the "RemainingDistance" parameter contains the distance to the beginning of the blending segment on the path. If only the orientation axis is being moved in a motion job (reorientation), the "RemainingDistance" parameter contains the value "-1.0". 174 Function Manual, 12/2017, A5E AA

175 Programming 6.4 Interrupting, continuing and stopping kinematics motions 6.4 Interrupting, continuing and stopping kinematics motions You can interrupt and continue active kinematics motions or stop them and thus also cancel queued motion jobs. Interruption of kinematics motions With the Motion Control instruction "MC_GroupInterrupt" (Page 204), you interrupt the execution of the motion for the kinematics technology object. With the "Mode" parameter, you specify the dynamic behavior. The kinematics can be stopped either with the dynamics of the motion job to be interrupted or with the maximum dynamics. The current path is not exited when the kinematics is stopped. If the kinematics is already at a standstill, the motion control is also interrupted for subsequent motion jobs. The kinematics technology object is in "Interrupted" status (<TO>.StatusWord.X17). For path planning, you can interrupt execution of the jobs, fill the job sequence (Page 173) and then continue execution of the commands. Continuation of kinematics motions With the Motion Control instruction "MC_GroupContinue" (Page 206), you continue a kinematics motion that was previously interrupted with a "MC_GroupInterrupt" job. The kinematics motion can also be continued if the kinematics has not yet come to a standstill following the "MC_GroupInterrupt" job. The "MC_GroupContinue" job only has an effect if the kinematics technology object is in "Interrupted" status (<TO>.StatusWord.X17). Stopping of kinematics motions With the Motion Control instruction "MC_GroupStop" (Page 209), you stop the motion control of the kinematics technology object. In so doing, both the active motion job as well as all queued jobs in the job sequence are canceled and the job sequence is emptied. If the kinematics motion was already interrupted with an "MC_GroupInterrupt" job, this job is also canceled. As long as the "Execute" parameter is set to TRUE, the following kinematics jobs are rejected ("ErrorID" = 16#80CD). With the "Mode" parameter, you specify the dynamic behavior. The kinematics can be stopped either with the dynamics of the motion job to be stopped or with the maximum dynamics. The current path is not exited when the kinematics is stopped. Function Manual, 12/2017, A5E AA 175

176 Programming 6.5 Motion preparation using multiple jobs 6.5 Motion preparation using multiple jobs Connection of multiple kinematics motions with geometric transitions Multiple motions can be appended to one another, in which case the kinematics comes to a standstill between the individual motions. To achieve an uninterrupted motion control, the individual motions can be blended with geometric transitions. You define the corresponding parameters at the new motion job (A2), into which the previous job (A1) is to be blended. Transitions of linear motions With the Motion Control instructions "MC_MoveLinearAbsolute" (Page 212) and "MC_MoveLinearRelative" (Page 218), you move a kinematics system with a linear motion. You define the motion transition mode with the "BufferMode" parameter and the rounding clearance with the "TransitionParameter[1]" parameter. The following table shows how these parameters act on the motion transition based on two linear motions: Rounding clearance Motion transition ("BufferMode") Description ("Transition- Parameter[1]") Not relevant "BufferMode" = 1 Append motion The active linear motion is completed and the kinematics comes to a standstill. The next linear motion is then executed. d > 0.0 "BufferMode" = 2, 5 Blend motion When the rounding clearance distance from the target position is reached, the active linear motion is blended with the next linear motion. Both motion jobs are blended at the lower velocity when "BufferMode" = 2 and at the higher velocity when "BufferMode" = Function Manual, 12/2017, A5E AA

177 Programming 6.5 Motion preparation using multiple jobs Rounding clearance ("Transition- Parameter[1]") Motion transition ("BufferMode") Description d = 0.0 "BufferMode" = 2, 5 Blend motion Because the rounding clearance is 0.0, traversing is the same as when "BufferMode" = 1. The active linear motion is completed and the kinematics comes to a standstill. The next linear motion is then executed. d < 0.0 "BufferMode" = 2, 5 Blend motion Because the rounding clearance is negative, the maximum rounding clearance is used. When the rounding clearance distance from the target position is reached, the active linear motion is blended with the next linear motion. Both motion jobs are blended at the lower velocity when "BufferMode" = 2 and at the higher velocity when "BufferMode" = 5. Function Manual, 12/2017, A5E AA 177

178 Programming 6.5 Motion preparation using multiple jobs Transitions of circular motions With the Motion Control instructions "MC_MoveCircularAbsolute" (Page 223) and "MC_MoveCircularRelative" (Page 231), you move a kinematics system with a circular motion. You define the motion transition mode with the "BufferMode" parameter and the rounding clearance with the "TransitionParameter[1]" parameter. The following table shows how these parameters act on the motion transition based on a linear motion and a circular motion: Rounding clearance Motion transition ("BufferMode") Description ("Transition- Parameter[1]") Not relevant "BufferMode" = 1 Append motion The active linear motion is completed and the kinematics comes to a standstill. The circular motion is then executed. d > 0.0 "BufferMode" = 2, 5 Blend motion When the rounding clearance distance from the target position is reached, the active linear motion is blended with the circular motion. Both motion jobs are blended at the lower velocity when "BufferMode" = 2 and at the higher velocity when "BufferMode" = Function Manual, 12/2017, A5E AA

179 Programming 6.5 Motion preparation using multiple jobs Rounding clearance ("Transition- Parameter[1]") Motion transition ("BufferMode") Description d = 0.0 "BufferMode" = 2, 5 Blend motion Because the rounding clearance is 0.0, traversing is the same as when "BufferMode" = 1. The active linear motion is completed and the kinematics comes to a standstill. The circular motion is then executed. d < 0.0 "BufferMode" = 2, 5 Blend motion Because the rounding clearance is negative, the maximum rounding clearance is used. When the rounding clearance distance from the target position is reached, the active linear motion is blended with the circular motion. Both motion jobs are blended at the lower velocity when "BufferMode" = 2 and at the higher velocity when "BufferMode" = 5. Maximum rounding clearance The maximum rounding clearance is used if the value of the "TransitionParameter[1]" parameter is < 0.0. The maximum rounding clearance is calculated as half the shorter path distance of the two motions. Requirement L1 > L2 L1 < L2 Maximum rounding clearance dmax = ½ L2 dmax = ½ L1 L1 Path length of the first job L2 Path length of the second job Function Manual, 12/2017, A5E AA 179

180 Programming 6.6 Interaction of kinematics motions and single axis motions Dynamic behavior when motions are appended/blended You define the dynamic behavior for the transition of kinematics motions with the "BufferMode" and "DynamicAdaption" parameters. Multiple motions can be appended to one another, in which case the kinematics comes to a standstill between the individual motions ("BufferMode" = 1). To achieve an uninterrupted motion, the individual motions can be blended with a blending segment. The consecutive motions can be blended at the lower velocity ("BufferMode" = 2) or at the higher velocity ("BufferMode" = 5). Dynamic adaptation For active dynamic adaptation with segmentation, the path including the blending segment is subdivided into additional segments ("DynamicAdaption" = 1). For each of these segments, the velocity profile is calculated taking into consideration the dynamic limits of the axes which apply for individual sections of the motion. The dynamic response is therefore adapted for individual sections of a motion. With active dynamic adaptation without segmentation of the path, the velocity profile is calculated taking into consideration the dynamic limits of the axes which apply for the entire motion ("DynamicAdaption" = 2). Velocity and acceleration are included in the dynamic adaptation. Tangential and radial acceleration of the path is taken into account in acceleration. The jerk is not limited for dynamic adaptation. If the dynamic adaptation is deactivated, the dynamic limits of the axes are not taken into account ("DynamicAdaption" = 0). 6.6 Interaction of kinematics motions and single axis motions Kinematics motions are only possible if no single axis motions are active on the kinematics axes. Single axis motions have an overriding effect on kinematics motions. The motion of the corresponding axis is overridden by the single-axis motion and the job sequence is cleared. The other kinematics axes stop with the maximum dynamics. The following functions are permitted during an active kinematics motion: Torque reduction on the axes/travel to fixed stop ("MC_TorqueLimiting") When the fixed stop is reached, the kinematics motion is aborted. Setting of an additive torque ("MC_TorqueAdditive") Setting of the upper and lower torque limit ("MC_TorqueRange") Sensor switchover ("MC_SetSensor") The following functions are rejected during an active kinematics motion: Overlaid motion on the axes ("MC_MoveSuperimposed") Homing of the axes ("MC_Home") 180 Function Manual, 12/2017, A5E AA

181 Commissioning Function and structure of the kinematics control panel With the kinematics control panel, you assume master control for a kinematics technology object and control the motions of the kinematics or the individual axes. WARNING Uncontrolled axis motions During operation with the kinematics control panel, the kinematics can execute uncontrolled motions (e.g. due to incorrect configuration of the drive or technology object). In addition, when a leading axis is moved with the kinematics control panel, any synchronized following axis is also moved. Therefore, take the following protective measures before operation with the kinematics control panel: Ensure that the EMERGENCY OFF switch is within the reach of the operator. Enable the hardware limit switches. Enable the software limit switches. Ensure that following error monitoring is enabled. Make sure that no following axis is coupled to the axis to be moved. You can find kinematics control panel of the kinematics technology object in the project tree under "Technology object > Commissioning". The kinematics control panel is divided into the following areas: Master control Kinematics Operating mode Control Status Current position values Function Manual, 12/2017, A5E AA 181

182 Commissioning 7.1 Function and structure of the kinematics control panel Elements of the kinematics control panel The following table shows the elements of the kinematics control panel: Area Element Description Master control "Activate" button In the "Master control" area, you assume master control for the technology object or return it to your user program. With the "Activate" button, you establish an online connection to the CPU and take over master control for the selected technology object. To take over master control, the technology object must be disabled in the user program. With the takeover of the master control of the kinematics, the master control of all axes interconnected with the kinematics is taken over. The master control can only be assumed with a kinematics control panel if axis control panel of the interconnected axes is active. Any synchronized following axis is moved as well when a leading axis is moved with the kinematics control panel. When you click the "Activate" button, a warning message is displayed. In the warning, you can adapt the sign-of-life monitoring (100 to ms). If the master control of the kinematics control panel is lost repeatedly without a direct error message, the online connection to the CPU may be impaired because the communication load is too high. In this case, the following message is entered in the alarm display log: "Commissioning error. Sign-of-life failure between controller and TIA Portal". To eliminate this error, adapt the sign-of-life monitoring in the warning. Until master control is returned, the user program has no influence on the functions of the technology object. Motion Control jobs from the user program to the technology object are rejected with error ("ErrorID" = 16#8012: Kinematics control panel enabled). When master control is taken over, the configuration of the technology object is taken over. Changes to the configuration of the technology object do not take effect until master control has been returned. Therefore, make any necessary changes before the takeover of master control. If master control has been taken over for the technology object, the kinematics control panel and the axis control panels of the interconnected axes are blocked for access by another instance of the TIA Portal (Team Engineering as of CPU V1.5). If the online connection to the CPU is lost during operation with the kinematics control panel, the kinematics or axis will be stopped at maximum deceleration after expiration of the sign of life monitoring. In this case, an error message is displayed ("ErrorID" = 16#8013) and the master control is passed back to the user program. 182 Function Manual, 12/2017, A5E AA

183 Commissioning 7.1 Function and structure of the kinematics control panel Area Element Description If the kinematics control panel is covered by a dialog, e.g. "Save As", during its operation, the kinematics or axis is stopped at maximum deceleration and the master control is returned to the user program. If you change to another window within the TIA Portal, e.g. to the project tree, during operation with the kinematics control panel, the master control and motion of the kinematics or axis is maintained, provided that the kinematics control panel is embedded in the TIA Portal. If the kinematics control panel is replaced by the TIA Portal and you change to another window within the TIA Portal, e.g. to the project tree, the master control is retained but the kinematics or axis is stopped at maximum deceleration. Kinematics Operating mode "Deactivate" button "Enable" button "Disable" button If you change to another window outside the TIA Portal during operation with the kinematics control panel, the master control is retained but the kinematics or axis is stopped at maximum deceleration. With the "Deactivate" button, you return master control to your user program. In the "Kinematics" area, you enable or disable the technology object. With the "Enable" button, you release the interconnected axes of the selected kinematics technology object. With the "Disable" button, you disable the interconnected axes of the selected kinematics technology object. Select the desired operating mode of the kinematics control panel in the "Operating mode" drop-down list. Function Manual, 12/2017, A5E AA 183

184 Commissioning 7.1 Function and structure of the kinematics control panel Area Element Description Control Coordinate system Active tool "Customize dynamics" check box Acceleration Deceleration Jerk Velocity Target position "Set" button "Start" button "Forward" button "Backward" button The "Control" area displays the parameters for traversing with the kinematics control panel according to the selected operating mode. In the "Coordinate system" drop-down list, you select the desired coordinate system in which the kinematics will be moved. ("Jog" and "Jog to target position" modes only) Select the required tool from the "Active tool" drop-down list. If you select the check box, you can edit the values for acceleration, deceleration and jerk. ("Jog" and "Jog to target position" modes only) Acceleration at which the kinematics is moved dependent on the kinematics type in x, y and z direction and orientation. Preassignment: 10% of the default value You can only edit the values if the "Customize dynamics" check box is selected. ("Jog" and "Jog to target position" modes only) Deceleration at which the kinematics is moved dependent on the kinematics type in x, y and z direction and orientation. Preassignment: 100% of default value You can only edit the values if the "Customize dynamics" check box is selected. ("Jog" and "Jog to target position" modes only) Jerk at which the kinematics is moved dependent on the kinematics type in x, y and z direction and orientation. Preassignment: 100% of default value You can only edit the values if the "Customize dynamics" check box is selected. ("Jog" and "Jog to target position" modes only) Velocity at which the kinematics is moved dependent on the kinematics type in x, y and z direction and orientation. Preassignment: 10% of the default value You use the slider to adjust the velocity as a percentage between 0% and 200% of the set velocity values (default value 100%). ("Jog" and "Jog to target position" modes only) Position to which the kinematics or axis is moved. ("Jog to target position" and "Single axes: Set home position" mode only) Position at which the home position is set. ("Single axes: Set home position" mode only) With the "Set" button, you set a home position. ("Single axes: Set home position" mode only) With the "Start" button, you start a motion according to the selected operating mode. ("Single axes: Homing" mode only) With the "Forward" button, you start a motion in the positive direction according to the selected operating mode. With the "Backward" button, you start a motion in the negative direction according to the selected operating mode. 184 Function Manual, 12/2017, A5E AA

185 Commissioning 7.1 Function and structure of the kinematics control panel Area Element Description Status Current position values Enabled Homed Error Coordinate system x position y position z position Rotation A The "Axis status" area displays the status of the axis and the status of the drive. The technology object is enabled. The axis can be moved with motion jobs. The technology object is homed. An error occurred at the technology object. Error messages are displayed in the Inspector window under "Diagnostics > Alarm display". The "Current position values" area shows the actual values of the axis. Coordinate system in which the kinematics or an axis is currently being moved. In the drop-down list on the right, you can select an additional coordinate system in order to display the actual position of the active tool in this coordinate system. The current position and rotation of the tool center point in the set coordinate system. Note No transfer of the parameters The configured parameter values are discarded when master control is returned. If necessary, transfer the values to your configuration. If you have changed configuration values during operation with the kinematics control panel, these changes have no effect on the operation of the kinematics control panel. Function Manual, 12/2017, A5E AA 185

186 Commissioning 7.1 Function and structure of the kinematics control panel Operating mode The following table shows the operating modes of the kinematics control panel: Operating mode Jog Jog to target position Single axes: Set home position Single axes: Homing Description With the "Forward" button, you move an axis by jogging in the positive direction. With the "Backward" button, you move an axis by jogging in the negative direction. The respective axis moves as long as you keep the "Forward" or "Backward" button pressed. With the "Forward" button, you move the kinematics or an axis by jogging to the position specified under "Target position". The kinematics moves as long as you keep the "Forward" button pressed. When the target position is reached, the kinematics stops automatically. The specified position relates to the coordinate system that is selected in the "Coordinate system" drop-down list. With the "Set" button, you set the home position of the respective axis to the value specified under "Target position". The "Homed" status is set for the corresponding axis. The specified position relates to the machine coordinate system (MCS) that is preset in the "Coordinate system" drop-down list with this operating mode. This function corresponds to direct homing (absolute). Homing is not possible with an absolute encoder. The technology object is not referenced when this mode is used with an absolute encoder. With the "Start" button, you move an axis by jogging to the predefined home position. The respective axis moves as long as you keep the "Start" button pressed. When the home position is reached, the axis stops automatically. 186 Function Manual, 12/2017, A5E AA

187 Commissioning 7.2 Using the kinematics control panel 7.2 Using the kinematics control panel With the kinematics control panel, you assume master control for a kinematics technology object and control the motions of the kinematics or the individual axes. Requirement The project is created and downloaded to the CPU. The CPU is in RUN operating state. The interconnected axes of the kinematics are disabled by your user program ("MC_Power.Enable" = FALSE). The kinematics control panel for the technology object is not being used by another instance of the TIA Portal (Team Engineering as of CPU V1.5). The drives are ready. Procedure To control the kinematics or the kinematics axes with the kinematics control panel, follow these steps: 1. To assume master control for the technology object and to establish an online connection to the CPU, click the "Activate" button in the "Master control" area. A warning message is displayed. 2. If necessary, adapt the sign-of-life monitoring and click "OK". 3. To enable the technology object, click the "Enable" button in the "Kinematics" area. 4. In the drop-down list in the "Operating mode" area, select the desired function of the kinematics control panel. 5. Select the reference coordinate system depending on the set operating mode in the "Control" area in the "Coordinate system" drop-down list. 6. In the "Control" area, specify the appropriate parameter values for your job. 7. Depending on the set operating mode, click the "Set", "Start", "Forward" or "Backward" button to start the job. 8. Repeat steps 4 through 7 for additional jobs. 9. To disable the technology object, click the "Disable" button in the "Axis" area. 10.To return master control to your user program, click the "Deactivate" button in the "Master control" area. Function Manual, 12/2017, A5E AA 187

188 Commissioning 7.3 Kinematics trace 7.3 Kinematics trace Brief description of kinematics trace The kinematics trace mainly offers the following functions: 3D visualization of the current motion of the tool center point (TCP) Record motion path of the kinematics and replay as trace. You can configure parameters, such as recording duration, sampling rate and trigger for the recording. Save recordings of path motions as a measurement or export and import as a file. You can find the "Kinematics trace" function of the kinematics technology object in the project tree under "Technology object > Kinematics trace" D visualization The display under "3D visualization" is divided into two areas: The graphical view in the top part is used to display the motion of the tool center point as a trace. The bottom part shows a tabular editor with the current and saved recordings. When no path motion or trace is selected in the table, the currently selected offline kinematics are displayed in the graphical display. Note You set the scale in which the kinematics is displayed in the kinematics trace under "Configuring the kinematics technology object (Page 150)" for the respective kinematics type. 188 Function Manual, 12/2017, A5E AA

189 Commissioning 7.3 Kinematics trace Toolbar The toolbar of the kinematics trace provides you with buttons for the following functions: Button Function Description Switch on monitoring Establishing an online connection The kinematics trace function establishes an online connection to the device. If the online/offline trace configuration is different, the trace configuration is loaded to the device. Switch off monitoring Terminate the existing online connection Start recording See Record and play traces (Page 191) Stop recording Import recording from file Export selected recording to a file See Importing and exporting recordings (Page 195) Add selected recording to measurements Recordings are added to measurements under Trace See Importing and exporting recordings (Page 195) Function Manual, 12/2017, A5E AA 189

190 Commissioning 7.3 Kinematics trace The toolbar assigned to the graphical view trace provides you with buttons for the following functions: Button Function Description Live monitor Switch live display of the kinematics on/off. With the live display you can view how the kinematics is currently moving. This function is only available in online mode. Brightness Set the brightness of the graphical view 2D 3D Focus on TCP Show all Grid Coordinate system Show xz plane Show xz plane rotated Show yz plane Show yz plane rotated Show xy plane Show xy plane rotated Display of the kinematics Highlight TCS Change the view to 2D display Change the view to 3D display Change the view to "Focus on TCP" During the path motion of the kinematics, the focus is always on the TCP. In standstill, the view can be moved or rotated using the mouse. The view is centered and the entire kinematics is displayed. Show/hide grid lines of the displayed coordinate system Select the coordinate system. The xz plane is displayed The xz plane is displayed rotated around the z-axis The yz plane is displayed The yz plane is displayed rotated around the z-axis The xy plane is displayed The xy plane is displayed rotated around the x-axis Simplified display of the kinematics or show/hide kinematics Highlight tool coordinate system 190 Function Manual, 12/2017, A5E AA

191 Commissioning 7.3 Kinematics trace Mouse operation in the graphic display You have the following operating options using the mouse, within the graphical view: Rotate and zoom the coordinate system When you place the mouse over the trace, the following values are shown at the cursor position: x, y and z values Measuring point number Values of the orientation axis Record and play traces Record path motion Click the button to record a path motion of the kinematics. If no online connection is available at this point, it is established automatically. The recording takes place with defaults that are stored under "Configuration" (Page 193). During the recording, the graphical view shows a live image of the kinematics. In case of user transformations, the graphical view shows the moved tool center point (TCP) instead. The "current recording" and the configuration are retained until the "kinematics trace" user interface is closed. When you start a new recording, the "Current recording" is overwritten. Saving current recording 1. In "Current recording", edit the entries for name and color of the trace and comment according to your requirements. 2. To save the "Current recording", use the icon in the table or the shortcut menu. The recording is inserted in the tabular editor. A saved recording contains the following kinematics data: Kinematics coordinates Kinematics type Valid online geometry at the time of the recording Note The tabular editor can save a maximum of 20 recordings. If you want to save additional recordings, you have to delete recordings which are not needed. Function Manual, 12/2017, A5E AA 191

192 Commissioning 7.3 Kinematics trace Toolbar for recordings The toolbar for recordings offers the following operating options: Timeline with slider To stop the playback at a specific position, click directly on the desired position in the timeline. Buttons for playing and stopping the recording One measuring point forwards or back Jump to beginning / end of the recording Slider to set the playback speed Show and play path motion as a trace 1. When the live monitor of the kinematics is activated, switch it off using the button in the toolbar. 2. To switch on the trace, click on the button of the recording that you want to play. This selects the recording. The graphical viewer displays the complete path motion of the recording. 3. Click on the "Play" button in the toolbar. The selected recording is played. The recording shows: The recorded path in the graphic view as a trace The kinematics with the online geometry that was valid at the time of the recording If multiple traces are visible, only the kinematics of the selected recording are shown in the graphical view. 192 Function Manual, 12/2017, A5E AA

193 Commissioning 7.3 Kinematics trace Configuration You specify the parameter values for the recording under "Configuration". You can start the recording of path motions using the button in the toolbar. Sampling Parameter Time of recording Description Choice of the following OBs: MC-Servo MC-Interpolator Record all Specify the value for the recording interval. With MC-Servo, you can select the following in a drop-down list: Specification in "Cycles" Specification in "Seconds" Max. recording duration Use max. recording duration Recording duration (a) Displays the calculated maximum recording duration. With a defined maximum number of measuring points, the maximum recording duration depends on the specified recording interval. When the check box is selected, the recording duration is set to the maximum possible recording duration. Specification of recording duration: In seconds Number of measuring points Function Manual, 12/2017, A5E AA 193

194 Commissioning 7.3 Kinematics trace Trigger Parameter Description Trigger mode Immediate recording The recording starts immediately after downloading the configuration. Trigger to tag The system is waiting for a trigger event that triggers the recording. Trigger tag Event You need a linked tag of the BOOL type for the "Trigger to tag" mode. Select the event that you want to use as trigger: Rising edge Falling edge Pre-trigger "Pre-trigger" defines the measuring points that are already recorded before the actual trigger condition is fulfilled. The information is given: In seconds Number of measuring points 194 Function Manual, 12/2017, A5E AA

195 Commissioning 7.3 Kinematics trace Importing and exporting recordings There are various export and import options for the current or saved recordings. Export or import the recording as a file The export contains the TCP position values as well as the configuration of the kinematics object. To export a record, proceed as follows: 1. Select the record to be exported. 2. Click the button. 3. Select the desired file format *.csv" or "*.ltr". 4. Select the desired folder. 5. Click "Export file". An exported *.ltr file can be re-imported into the kinematics technology object. To import a recording, proceed as follows: 1. Open the "Kinematics technology object" > Kinematics trace in the project navigation. 2. Click the button. 3. Select the desired folder. 4. Click "Import file". After import, the following is displayed under 3D visualization: The imported kinematics The path motions Function Manual, 12/2017, A5E AA 195

196 Commissioning 7.3 Kinematics trace Save recording as measurement To save the recording as a measurement, proceed as follows: 1. Select the "Current recording" or a "Saved recording". 2. Save the recording using the button in the toolbar. The recording is filed under "Traces > Measurements". The file contains the TCP coordinates (x, y, z, A) as well as the positions of the connected axes. The recordings saved under "Measurements" can be downloaded and displayed in the trace. Trace offers you extended evaluation options to analyze path motions in detail. Note The recordings saved under measurements cannot be imported into the kinematics trace again. 196 Function Manual, 12/2017, A5E AA

197 Diagnostics Introduction to diagnostics The "Diagnostics" section is limited to describing the diagnostics view of the individual technology objects in the TIA Portal. A comprehensive description of the system diagnostics of the S CPU can be found in the "Diagnostics" function manual ( The description of the diagnostics concept for Motion Control can be found in the "Diagnostics concept" section. See also Function Manual "S7-1500T Motion Control V4.0 in the TIA Portal V15" section "Diagnostics concept" ( Function Manual, 12/2017, A5E AA 197

198 Diagnostics 8.2 Kinematics technology object 8.2 Kinematics technology object Status and error bits You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in the TIA Portal to monitor the status and error messages for the technology object. The diagnostic function is available in online operation. The meaning of the status and error messages is described in the following tables. The associated technology object tag is given in parentheses. Status of the kinematics The following table shows the possible statuses of the kinematics: Status Error Restart active Kinematics control panel active Restart required Description An error occurred at the technology object. Detailed information about the error is available in the "Error" area and in the "<TO>.ErrorDetail.Number" and "<TO>.ErrorDetail.Reaction" tags of the technology object. (<TO>.StatusWord.X1 (Error)) The technology object is being reinitialized. (<TO>.StatusWord.X2 (RestartActive)) The kinematics control panel is activated. The kinematics control panel has master control over the technology object. The kinematics cannot be controlled from the user program. (<TO>.StatusWord.X4 (ControlPanelActive)) Data relevant for the restart has been changed. The changes are applied only after a restart of the technology object. (<TO>.StatusWord.X3 (OnlineStartValuesChanged)) 198 Function Manual, 12/2017, A5E AA

199 Diagnostics 8.2 Kinematics technology object Status of the motion The following table shows the possible statuses of the kinematics motion: Status Done (no job running) Linear motion active Circular motion active Constant velocity Accelerating Decelerating Motion aborted Orientation movement active Description No motion job is active for the technology object. (<TO>.StatusWord.X6 (Done)) A linear motion job is active for the technology object. (<TO>.StatusWord.X8 (LinearCommand)) A circular motion job is active for the technology object. (<TO>.StatusWord.X9 (CircularCommand)) The kinematics is being moved at constant velocity or is at a standstill. (<TO>.StatusWord.X12 (ConstantVelocity)) The kinematics is being accelerated. (<TO>.StatusWord.X13 (Accelerating)) The kinematics is being decelerated. (<TO>.StatusWord.X14 (Decelerating)) The active kinematics motion is being aborted by a "MC_GroupStop" job. (<TO>.StatusWord.X16 (Stopping)) An orientation motion is active for the technology object. (<TO>.StatusWord.X15 (OrientationMotion)) Error The following table shows the possible errors: Error System Configuration Transformation User program Job rejected Dynamic limitation Description A system-internal error has occurred. (<TO>.ErrorWord.X0 (SystemFault)) A configuration error has occurred. One or more configuration parameters are inconsistent or invalid. The technology object was incorrectly configured, or editable configuration data was incorrectly modified during runtime of the user program. (<TO>.ErrorWord.X1 (ConfigFault)) A transformation error has occurred. (<TO>.ErrorWord.X4 (TransformationFault)) An error occurred in the user program with a Motion Control instruction or its use. (<TO>.ErrorWord.X2 (UserFault)) A job cannot be executed. A Motion Control instruction cannot be executed because necessary requirements have not been met (e.g. technology object not homed). (<TO>.ErrorWord.X3 (CommandNotAccepted)) The dynamic values are restricted to the dynamic limits. (<TO>.ErrorWord.X6 (DynamicError)) Function Manual, 12/2017, A5E AA 199

200 Diagnostics 8.2 Kinematics technology object Warnings The following table shows the possible warnings: Warning Configuration Job rejected Dynamic limitation Description One or more configuration parameters are being internally adapted temporarily. (<TO>.WarningWord.X1 (ConfigWarning)) A job cannot be executed. A Motion Control instruction cannot be executed because necessary requirements have not been met. (<TO>.WarningWord.X3 (CommandNotAccepted)) The dynamic values are restricted to the dynamic limits. (<TO>.WarningWord.X6 (DynamicWarning)) See also Tag StatusWord (kinematics) (Page 285) Tag ErrorWord (kinematics) (Page 287) Tag WarningWord (kinematics) (Page 289) 200 Function Manual, 12/2017, A5E AA

201 Diagnostics 8.2 Kinematics technology object Status of the motion You use the "Technology object > Diagnostics > Motion status" diagnostic function in the TIA Portal to monitor the motion status of the kinematics. The diagnostic function is available in online operation. "Tool center point (TCP)" area The following table describes the meaning of the position information of the tool center point: Status Coordinate system x position y position z position Rotation A Coordinate system x position y position z position Rotation A Description Reference coordinate system The world coordinate system (WCS) is preset in this field. x coordinate of the TCP in the WCS (<TO>.TcpInWcs.x.Position) y coordinate of the TCP in the WCS (<TO>.TcpInWcs.y.Position) z coordinate of the TCP in the WCS (<TO>.TcpInWcs.z.Position) A coordinate of the TCP in the WCS (<TO>.TcpInWcs.a.Position) Reference coordinate system In the drop-down list you can select an additional coordinate system in order to display the actual position of the active tool in this coordinate system. x coordinate of the active tool in the set coordinate system. y coordinate of the active tool in the set coordinate system. z coordinate of the active tool in the set coordinate system. A coordinate of the active tool in the set coordinate system. Function Manual, 12/2017, A5E AA 201

202 Diagnostics 8.2 Kinematics technology object "Dynamic values of the kinematics" area The following table describes the meaning of the dynamic information: Status Limit path dynamics to axis dynamics Velocity Acceleration Override Description Display of dynamic values with or without configured dynamic adaptation Path velocity (<TO>.StatusPath.Velocity) Path acceleration (<TO>.StatusPath.Acceleration) Percentage correction of the velocity specification The setpoint velocity set in Motion Control instructions or from the kinematics control panel is superimposed with an override signal and corrected as a percentage. Values from 0.0% to 200.0% are permissible for the velocity correction. (<TO>.Override.Velocity) "Job sequence" area The following table describes the meaning of the job information: Status Job in the job sequence Description Current number of jobs for the kinematics technology object in the job sequence (<TO>.StatusMotionQueue.NumberOfCommands) 202 Function Manual, 12/2017, A5E AA

203 Diagnostics 8.2 Kinematics technology object Zones and tools You use the "Technology object > Diagnostics > Zones and tools" diagnostic function to monitor the zone and tool status of the kinematics in the TIA Portal. The diagnostic function is available in online operation. "Zones" area The "Workspace zones" and "Kinematics zones" tables show the status of the individual zones. The following symbols are displayed for this purpose: Symbol Description The zone is invalid. The zone is inactive. The zone is active. The zone was violated. "Active tool parameters" area The following table describes the meaning of the tool information: Status Active tool Tool center point in the FCS x position y position z position Rotation A Description Currently active tool (<TO>.StatusTool.ActiveTool) In the "Tool center point in the FCS", the values of the current tool frames are displayed in the flange coordinate system (FCS). x coordinate (<TO>.StatusTool.Frame[1].x) y coordinate (<TO>.StatusTool.Frame[1].y) z coordinate (<TO>.StatusTool.Frame[1].z) A coordinate (<TO>.StatusTool.Frame[1].a) Function Manual, 12/2017, A5E AA 203

204 Instructions Kinematics motions MC_GroupInterrupt V MC_GroupInterrupt: Interrupt motion execution V4 Description With the Motion Control instruction "MC_GroupInterrupt", you interrupt the execution of the motion on a kinematics technology object. The interrupted kinematics motion can be resumed with a "MC_GroupContinue" job. If the kinematics is already at a standstill, the execution of the motion is also interrupted for subsequent motion jobs. New motion jobs are then arranged as pending jobs in the job sequence. With the "Mode" parameter, you specify the dynamic behavior of the holding. Applies to Kinematics Requirement The technology object has been configured correctly. The interconnected axes are enabled. Override response The override response for "MC_GroupInterrupt" jobs is described in section "Override response V4: Kinematics motion commands (Page 259)". 204 Function Manual, 12/2017, A5E AA

205 Instructions 9.1 Kinematics motions Parameters The following table shows the parameters of Motion Control instruction "MC_GroupInterrupt": Parameter Declaration Data type Default value Description AxesGroup INPUT TO_Kinematics - Technology object Execute INPUT BOOL FALSE TRUE Start job with a positive edge Mode INPUT DINT 0 Mode for dynamic behavior 0 Stop with the dynamics of the motion job to be interrupted 1 Stop with maximum dynamics of kinematics motion Done OUTPUT BOOL FALSE TRUE Job is completed. Busy OUTPUT BOOL FALSE TRUE The job is being processed. Active OUTPUT BOOL FALSE TRUE The setpoints are calculated. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job during execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" parameter. ErrorID OUTPUT WORD 16#0000 Error ID (Page 302) for parameter "ErrorID" See also Error ID (kinematics) (Page 302) Interrupting, continuing and stopping kinematics motions (Page 175) Override response V4: Kinematics motion commands (Page 259) Function Manual, 12/2017, A5E AA 205

206 Instructions 9.1 Kinematics motions MC_GroupContinue V MC_GroupContinue: Continue execution of motion V4 Description With the Motion Control instruction "MC_GroupContinue", you continue a kinematics motion that was previously interrupted with a "MC_GroupInterrupt" job. The kinematics motion can also be continued if the kinematics has not yet come to a standstill following the "MC_GroupInterrupt" job. The "MC_GroupContinue" job has only an effect if the technology object is in "Interrupted" state. Applies to Kinematics Requirement The technology object has been configured correctly. The interconnected axes are enabled. Override response An "MC_GroupContinue" job is not aborted by any other Motion Control job. A new "MC_GroupContinue" job aborts a current "MC_GroupInterrupt" job. The override response for "MC_GroupContinue" jobs is described in section "Override response V4: Kinematics motion commands (Page 259)". 206 Function Manual, 12/2017, A5E AA

207 Instructions 9.1 Kinematics motions Parameters The following table shows the parameters of Motion Control instruction "MC_GroupContinue": Parameter Declaration Data type Default Description value AxesGroup INPUT TO_Kinematics - Technology object Execute INPUT BOOL FALSE TRUE Start job with a positive edge Done OUTPUT BOOL FALSE TRUE Job is completed. Busy OUTPUT BOOL FALSE TRUE The job is being processed. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" parameter. ErrorID OUTPUT WORD 16#0000 Error ID (Page 302) for parameter "ErrorID" See also Error ID (kinematics) (Page 302) Interrupting, continuing and stopping kinematics motions (Page 175) Override response V4: Kinematics motion commands (Page 259) MC_GroupContinue: Function chart V4 Function chart: Continue execution of motion Function Manual, 12/2017, A5E AA 207

208 Instructions 9.1 Kinematics motions The kinematics is moved with an "MC_MoveLinearAbsolute" job (A1). At time 1, the "MC_MoveLinearAbsolute" job is interrupted by an "MC_GroupInterrupt" job (A2). The kinematics is in "Interrupted" state. With "Mode = 0" the motion is stopped with the dynamics of the "MC_MoveLinearAbsolute" job. The completion of the "MC_GroupInterrupt" job is reported via "Done_2". At time 2, the "MC_MoveLinearAbsolute" job is continued by an "MC_GroupContinue" job (A3). 208 Function Manual, 12/2017, A5E AA