TF5110 | TC3 Kinematic Transformation L1

Various robot types kinematics can be realized using TwinCAT Kinematic Transformation. The programming of the robot movements takes place in Cartesian coordinates using either DIN 66025 instructions or the PLCopen-compliant blocks from the PLC. An integrated dynamic pre-control ensures high precision of the movement even at high accelerations and speeds. Configuration takes place in TwinCAT 3 Engineering.

Features:

• supports various parallel and also serial kinematics, e.g. for pick-and-place tasks
• supports the programming of interpolating movements in G-code (DIN 66025)
• alternatively, standard PTP and cam plate applications can be realized
• simple programming in the Cartesian coordinate system
• automatic calculation of the inverse kinematic for the relevant motor positions
• kinematics configured in TwinCAT 3 Engineering; in addition to the type (e.g. delta), the bar lengths and offsets must also be parameterized
• mass and mass inertia values can be specified for dynamic pre-control
• optimized for the Beckhoff Servo Drives
• basic package integrating the following kinematics: cartesian portals
• User can realize and integrate own kinematics in C++.