Siemens SIMOTION Function Manual page 60

Basics of Path Interpolation
2.13 Kinematic adaptation
● A coupling from axis A1 to axis A2
● A coupling from axis A1 and axis A2 to the path-synchronous controlled axis A4
● A coupling from axis A4 to axis A3 (lifting axis)
The compensation functionality and the specifications to the positioning axis A4 via the path-
synchronous motion are independent of one another and are executed simultaneously by the
system.
Configuration data for SCARA kinematics
typeOfKinematics: SCARA
basicOffset.x
basicOffset.y
basicOffset.z
offsetA1
distanceA1A2
offsetA2
distanceA2Endpoint
linkCompensationA2.enableA1A2 Compensate A1 articulated joint positioning dependence
linkCompensationA2.factorA1A2
linkCompensationA4.enableA1A4 Compensate A1 articulated joint positioning dependence
linkCompensationA4.factorA1A4
linkCompensationA4.enableA2A4 Compensate A2 articulated joint positioning dependence
linkCompensationA4.factorA2A4
linkCompensationA3.enableA4A3 Compensate A4 articulated joint positioning dependence
linkCompensationA3.factorA4A3
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That is, the setpoint of axis A4 is changed to the positioning axis in accordance with the
changes of A1 and A2.
If axis A1 and/or axis A2 is traversed and a path-synchronous motion on axis A4 is
specified in parallel, the system superimposes/adds a path-synchronous motion
specification and compensation onto the positioning axis.
If axis A3 is traversed via the path motion and a compensation from axis A4 to axis A3 is
required simultaneously, the specifications are superimposed.
SCARA kinematics type
Offset of the kinematic zero point relative to the
Cartesian zero point, x-coordinate
Offset of the kinematic zero point relative to the
Cartesian zero point, y-coordinate
Offset of the kinematic zero point relative to the
Cartesian zero point, z-coordinate
Offset of axis zero point axis A1 relative to zero position
of axis A1 in the transformation
A1-A2 separation
Offset of axis zero point axis A2 relative to zero position
of axis A2 in the transformation
A2 - end point separation
to A2
Factor
to A4
Factor
to A4
Factor
to A3
Factor
TO Path Interpolation
Function Manual, 11/2010