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.actual_pos.param[i] with i = 0 … 74 (Maximum number of transformer parameters,
application-specific

Data type

REAL64

Data range

Meaning (depends on transformation ID)

ID 1:

param[0]     h (*)

param[1]     k0 (*)

param[2]     k1 (*)

param[3]     k2 (*)

param[4]     φNorm Normalization of motor angle (*)

(*see equations of the functions)

 

ID 2:

param[0]     Crank length l1

param[1]      Con-rod length l2

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

 

ID 4:

param[0]     la Distance 1 hinge points

param[1]     lb Distance 2 hinge points

param[2]     Crank length lh

param[3]     Offset zero position linear axis

param[4]     Rotation direction of axis B

                    0: positive

                    1: negative

Axis types

R

Dimension

 

R: ----

Default value

0

Drive types

----

Remarks

 

ID 1: e- function


Example:

trafo.command_pos.param[0] 10000

trafo.command_pos.param[1] 1.0

trafo.command_pos.param[2] 2.0

trafo.command_pos.param[3] 1.0

trafo.command_pos.param[4] 1800000

ID2: Crank

Example:

trafo.command_pos.param[0] 1000000

trafo.command_pos.param[1] 3000000

trafo.command_pos.param[2] 0

trafo.command_pos.param[3] 0

Notice

notice

With eccentricity e != 0 and specific parameter settings (e.g. (l2-l1) < e), there may be limitations of angle movement range because of jammings in the kinematic structure! In this case the drive movement range of both solutions is smaller than 360 degrees (see following picture).

ID4: Crank with linkage by linear axis

Example:

trafo.command_pos.param[0] 1000000

trafo.command_pos.param[1] 1410000

trafo.command_pos.param[2] 1000000

trafo.command_pos.param[3] 0

trafo.command_pos.param[4] 0

If the kinematic is (β=0) in zero position, the transformation delivers for the drive position 0 for ls. If necessary, by param[3] an offset to this position can be defined. (Example: Drive position at β=0 is 50mm -> the offset value has to be set on 50mm). In mathematical sense, the default rotational direction of the B axis is positive. This can be adapted by the parameter trafo.command_pos.param[4], see the figure below.