Axis-Specific Zero Point Offset In The Transformation - Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.13 Kinematic adaptation
For the calculation of axis positions, the values are specified in the axis coordinate of the
path axis, and not relative to the kinematic zero point of the axis.
The modulo range is taken into account.
For the transformation of Cartesian values to path axis values, a link constellation and not a
reference position of the axes has to be specified in order to ensure uniqueness.
2.13.2.7

Axis-specific zero point offset in the transformation

It is possible to set an axis-specific offset of the zero position of the axis in the axis-specific
coordinate system as well as the zero definition of the axis in the transformation.
The positive direction of the axis and of the axis in the transformation must be the same.
These settings are made for the axis.
The offset of the kinematic zero point relative to the axis zero point is specified in the positive
direction of the axis.
Figure 2-29
When modulo axes are used for rotary links with a limited domain in kinematics, such as
SCARA, the axis-specific zero point offset and the modulo property of the relevant path axis
are defined such that the permissible modulo range of the path axis coincides with the
domain of the relevant arm within the kinematics. Otherwise, this can cause an additional
limitation in the traversing range of the kinematics.
Example: If a link is limited to [-180°; 180°) and a modulo range of 0° to 360° is defined on
the path axis, the zero point offset to -180° should be specified.
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Path axis offset
TO Path Interpolation
Function Manual, 11/2010