Siemens SIMOTION Function Manual page 59

The zero positions of the A1 axis and A2 axis are as follows:
Figure 2-46
The domain of the single A
Link compensations
z+
Figure 2-47
Coupled axes
Mechanical couplings can exist:
● Between A
● Between A
● Between A
If a positive coupling factor between two axes is specified, the transformation assumes that a
positive motion on the first axes leads to a negative motion on the second axis.
The following axis couplings can be compensated via the system:
TO Path Interpolation
Function Manual, 11/2010
SCARA: Zero positions
and A
1
d d
A2EP
A1A2
A
1
A
A
2
d
x,y,z
y+
x+
EP
SCARA: Kinematics with link compensation
and A
1 2
, A and A
1 2 synchronous
(A ) and A
synchronous 4
axes is limited to [-180°; 180°).
2
4
A
3
AP
(A )
4
3
Basics of Path Interpolation
2.13 Kinematic adaptation
59