Delta 3D Picker - Siemens SIMOTION Function Manual

Configuration data for Delta 2D picker kinematics
typeOfKinematics:
DELTA_2D_PICKER
basicOffset
basicOffset.x
basicOffset.y
Axis 3 is not available for the Delta-2D picker.
config2D
length1
length2
distanceD1
distanceD2
offsetA1
offsetA2
Possible link constellations
LinkConstellation
2.13.3.6

Delta 3D picker

G2
distanceD1
Figure 2-41
TO Path Interpolation
Function Manual, 11/2010
y+
length1
length1
G3
Kinematics of Delta 3D picker (top view)
Delta 2D picker kinematics type
Offset of the kinematic zero point (ZP) relative to a
Cartesian zero point
Portion of offset in coordinate direction X
Portion of offset in coordinate direction Y
Main plane of the path axes
Length of the upper arm segment
Length of the lower arm segment
Distance of the A and A
1
zero point (ZP)
Distance of the G and G
3
point (EP)
Offset of the A1 drive axis
Offset of the A2 drive axis
Irrelevant (always 1)
length1
G1
x+
Basics of Path Interpolation
2.13 Kinematic adaptation
drive axes from the kinematic
2
articulations from the end
4
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