Transformation parameters (P-AXIS-00370)

P-AXIS-00370

Transformation parameters of axis specific command value transformation

Description

The transformation parameters are entered in this array corresponding to the selected transformation ID P-AXIS-00369.

Parameter

trafo.command_pos.param[i] mit i = 0 … 74 (Maximum number of transformation parameters,
application-specific

Data type

REAL64

Data range

Meaning (depends on transformation ID)

ID 1: e function

param[0]     h (*) in 10 E-4 mm

param[1]     k₀ (*)

param[2]     k₁ (*)

param[3]     k₂ (*)

param[4]     φ_Norm Normalisation of motor angle (*) in 10 E-4°

(*see equations of the functions)

ID 2: Crank function

param[0]      Crank length l₁ in 10 E-4 mm

param[1]      Con-rod length l₂ in 10 E-4 mm

param[2]      Eccentricity e

param[3]      Solution range for motor angle ϕM

                    0:.0..180 degrees

                    1: 180..360 degree

param[4]      Moving direction of linear axis

                    0: positive

                    1: negative

param[10]    Zero point offset of linear axis in 10 E-4 mm

ID 3: Eccenter function

param[0]      Eccenter radius R in 10 E-4 mm

param[1]      Offset zero position linear axis in 10 E-4 mm

param[2]      Offset zero position rotary axis in 10 E-4°

param[3]      Solution range angle j

                    0:.-90..+90 degrees

                    1: 90..270 degree

ID 4: Crank kinematic

param[0]     l_a Distance 1 joint points in 10 E-4 mm

param[1]     l_b Distance 2 joint points in 10 E-4 mm

param[2]     Crank length l_h in 10 E-4 mm

param[3]     Offset zero position linear axis in 10 E-4 mm

param[4]     Rotation direction of rotary axis B

                    0: positive

                    1: negative

Axis types

R

Dimension

R: ----

Default value

0

drive types.

----

Remarks