Siemens SIMOTION Function Manual page 138

Appendix A
A.1 Specific kinematics with TrafoID 1001
Table A- 1 Kinematics parameter
Parameter
Kinematics.parameter[1]
Kinematics.parameter[2]
Kinematics.parameter[3]
Kinematics.parameter[4]
Kinematics.parameter[5]
Kinematics.parameter[6]
Kinematics.parameter[7]
Kinematics.parameter[8]
Kinematics.parameter[9]
Kinematics reference
The position of the TCP/ end point depends on the orientation (see Traversing range
section) of rod 2. If the lower orientation is selected (as in the kinematics reference diagram),
the position of the TCP/ EP can be determined as follows if the kinematics are in a neutral
position:
If the upper orientation is selected:
Figure A-2 Kinematics reference
138
Use Unit
basicOffsetX e.g. mm
basicOffsetY e.g. mm
ratioA1 e.g. mm/°
length1 e.g. mm
length2 e.g. mm
distanceE1 e.g. mm
verticalPosition2 0: lower,
lower / upper ≠0: upper
offsetA2 e.g.
Type Min.
LREAL -1E+012
LREAL -1E+012
Reserved
LREAL -1E+012
LREAL 0
LREAL 0
LREAL -1E+012
LREAL -1E+012
LREAL -1E+012
Max
1E+012
1E+012
1E+012
1E+012
1E+012
1E+012
1E+012
1E+012
TO Path Interpolation
Function Manual, 11/2010