TS511x | TwinCAT Kinematic Transformation

Various robot types kinematics can be realized using TwinCAT Kinematic Transformation. The programming of the robot movements takes place in Cartesian coordinates using either DIN 66025 instructions or the PLCopen-compliant blocks from the PLC. An integrated dynamic pre-control ensures high precision of the movement even at high accelerations and speeds. Configuration takes place in the TwinCAT Engineering Interface Server.

• supports various parallel and also serial kinematics, e.g. for pick-and-place tasks
• supports the programming of interpolating movements in G-code (DIN 66025)
• alternatively, standard PTP and cam plate applications can be realized
• simple programming in the Cartesian coordinate system
• automatic calculation of the inverse kinematic for the relevant motor positions
• kinematics configured in the TwinCAT Engineering Interface Server; in addition to the type (e.g. delta), the bar lengths and offsets must also be parameterized
• mass and mass inertia values can be specified for dynamic pre-control
• tracking with the aid of “flying saw” and “cam plates” for synchronization (e.g. to conveyor belts)
• optimized for the Beckhoff Servo Drives from the AX5000 series
• The following kinematics are integrated (separated in different product levels, depending on the complexity of the kinematics):
  • cartesian portals
  • 2D parallel kinematics
  • shear kinematics
  • crane and roll kinematics
  • 3D Delta
  • SCARA