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 TwinCAT 3 Engineering.

Features

• 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 TwinCAT 3 Engineering; 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
• optimized for the Beckhoff Servo Drives
• basic package integrating the following kinematics: cartesian portals
• User can realize and integrate own kinematics in C++.