# KIN_TYP_36 – SCARA kinematics

## Kinematic structure

The robot kinematics consist of 3 rotary and 1 translatory NC axes in the tool. Tool length compensation takes place in the Z axis. All rotary axes are C axes.

Axis configuration in the NC channel
Axis identifier | X, Y, Z, C (C1, C2, Z, C3)
Axis index | 0, 1, 2, 3
Kinematic structure
| Tool axes | Workpiece axes
NC axes | X,Y, Z, C | -

SCARA kinematics
SCARA kinematics in zero position (C1=0, C2=0, C3=0, HD8=0)

SCARA works as a left-handed or right-handed robot depending on the angular position of robot joint 2 (C2). The machine axis position before selecting the transformation therefore decides whether SCARA is positioned as a left-handed or right-handed robot. A change can be made from left-handed to right-handed robot when the kinematic transformation is inactive.

HD7 can be used to define the reference of the robot joint (C2).

In the default case of HD7 = 0 C2 refers to the angle between the extension of the first arm and the second arm. In the case of HD7 = 1 C2 refers to the angle between the X axis and the second arm.

HD8 is a rotary offset of C2. This permits the description of a zero position of the kinematics where the SCARA is not completely stretched out but is angled in the second joint. HD8=0 is the default.

HD7 = 0 (default) | HD7 = 1
Right-handed robot | Right-handed robot
Left-handed robot | Left-handed robot

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Tool length offset in Z direction | 10 E-4 mm
HD2 | 1 | Length offset from joint 1 to joint 2 | 10 E-4 mm
HD3 | 2 | Length offset joint 2 to rotary axis C3 | 10 E-4 mm
HD4 | 3 | X offset origin C1 axis | 10 E-4 mm
HD5 | 4 | Y offset origin C1 axis | 10 E-4 mm
HD6 | 5 | Rotary offset C1 axis | 10 E-4°
HD7 | 6 | Calculate reference of the robot joint for C2 0 = C2 as an offset of C1 (default) Calculate 1 = C2 as an angle to the X axis | [ - ]
HD8 | 7 | Rotary offset C2 axis | 10 E-4°