TwinCAT Kinematic Transformation

The TwinCAT Kinematic Transformation software library supports different parallel and serial kinematic systems used for pick-and-place tasks, for example. The supplement is based on TwinCAT NC I for interpolating movements and G-Code (DIN 66025). In addition, standard PTP and cam plate applications can be realised.

Programming is usually based on the Cartesian coordinate system, with the control system calculating the inverse kinematics for the relevant motor positions. The selection and configuration of kinematics is carried out in the TwinCAT System Manager. The kinematic channel is used to parameterise the type (e.g. delta) and the bar lengths and offsets. Mass and mass inertia values can be specified for dynamic pre-control.

The “flying saw” and “cam plate” functions enable synchronisation with conveyor belts for picking or placing workpieces, for example. TwinCAT Kinematic Transformation is optimised for Beckhoff Servo Drives of the AX5000 series.

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.

Technical data	TwinCAT Kinematic Transformation
Target system	Windows NT/2000/XP/Vista, Windows 7, CE
Min. TwinCAT level	TwinCAT NC I

Ordering information
TwinCAT Kinematic Transformation	licence for using the TwinCAT PLC library for the realisation of different kinematic transformations for TwinCAT PTP or TwinCAT NC I