Hello Everyone,

Is there any documentation to understand 6DOF articulated Kinematics blocks in Axis-group, In the go to Definition section it is limited

For using FK block 'SMC_TrafoF_ArticulatedRobot_6DOF' I have to create separate variable for DH parameters

Direct axis group parameters I am not able to link & the parameters here are less when compared to axis group

The output values I am getting when using RoboAnalyzer software & codesys are different
How to approach this kinematics part of codesys

Hi intvenkat,

the parameters of the robotics kinematics "Kin_ArticulatedRobot_6DOF" are explained here, with pictures:

https://content.helpme-codesys.com/en/libs/SM3_Transformation/Current/SM3_Transformation/Function-Blocks/Standalone-Kinematics/Articulated-Robots/6AxisArticulated/Kin_ArticulatedRobot_6DOF.html

Does this help, or are you looking for further information about the CNC function block "SMC_TrafoF_ArticulatedRobot_6DOF"?

Best regards,

Georg

Thanks George
the thing is when i was comparing Forward Kinematics Values from 'SMC_TrafoF_ArticulatedRobot_6DOF' of Codesys & Roboanalyzer outputs are not matching, because link twist value in column 1 is actually -90 as said in 'SMC_Trafo_ArticulatedRobot_6DOF' documentation, but in axis group it is shown as +90 which is what i require but not present in program which is found when compared with roboanalyzer software

So is there any way to change column values of link twist & joint offset

Hi,

no, it is not possible to change the link twist for SMC_Trafo(F)_ArticulatedRobot_6DOF.

If the robotics kinematics Kin_ArticulatedRobot_6DOF uses the convention for link twist you expect, you could wrap it into two FBs with the same inputs/outputs as SMC_Trafo(F)_ArticulatedRobot_6DOF and use these FBs with your CNC application.

Georg

Merhaba Georg,

Daha önce bana yardıma dokunmuştum bunun için minnettarım. Yeni bir sorunum var belki alabilirsin? Şu anda CNC Interpolasyon ile yarıçap işlemi yapılırken X-Y eksenlerinde aşırı titreşim oluyor. Yarıçap yumuştamak için "bdAngleTol" değeri değeri. Yolu yumuşatmayı başarsam da bu yol aşırı vuruşlu hareketi ortaya çıkarıyor. Bunun için fikrin olabilir mi ?

teşekkürler.

Hi ByCNC,

here is the automatic translation of your comment, as I do not understand turkish:

<<<
Hello Georg,

You've helped me before and I'm grateful for that. I have a new problem maybe you can take it? Currently there is excessive vibration on the X-Y axes when doing radius operation with CNC Interpolation. The value of "bdAngleTol" to smooth the radius. Even if I manage to smooth the path, this path reveals excessive pulsating motion. Can you have an idea for this?

Thank you.

Are you using SMC_ToolRadiusCorr? Is this causing the vibration? Are you using SMC_SmoothPath for smoothing the path?

Best regards,

Georg