Siemens SIMOTION Function Manual page 53

Figure 2-39
The alternative variant with the deflection role on the tool can be derived by converting the
coordinates:
Deflection role on the tool
x *
II
y *
II
φ *
1II
φ
2II
R
1II
R
2II
Note
The two path axes must be configured so that 360 axis-units (i.e. mm, degree, etc.) produce
a disk revolution. The "modulo axis" setting should be prevented. See Units (Page 18) and
Modulo properties (Page 17).
Configuration data for roller picker kinematics
typeOfKinematics: ROLL_PICKER Roller picker kinematics type
basicOffset.x
basicOffset.y
Axis 3 is not available for the roller picker.
config2D
TO Path Interpolation
Function Manual, 11/2010
y +
II
x +
II
(R ,φ
1II 1II
Kinematics of roller picker (deflection roll on the tool; this case is not examined here)
*
*
*
(R , φ )
2II 2II
Deflection role on the opposite side of the tool
-x
I
-y
I
φ
2I
φ
1I
R
2I
R
1I
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
Main plane of the path axes
Basics of Path Interpolation
2.13 Kinematic adaptation
53