Merger of Motion Control, PLC and robotics on one CPU
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چکیده
The TwinCAT Supplement ‘TwinCAT Kinematic Transformation’ is presented in this application example. This supplement makes it possible to compute robot kinematics together with the PLC and Motion Control on one PC-based CPU. Analogous to the TwinCAT Motion Control package (integration of the drive control in the controller), a robot kinematics is configured and parameterised with the ‘Kinematic Transformation’ in the TwinCAT system. The advantages of this are the elimination of interfaces between the CPUs, the system-congruent programming and of course the saving of CPUs. The following kinematics are currently integrated in the supplement: 2-D parallel kinematics, 3-D delta, shear kinematics, SCARA, Cartesian portals, crane and roller kinematics.
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