pyright 2007 Rockwell Automation Inc All rights reserved

pyright © 2007 Rockwell Automation, Inc. All rights reserved. Kinematics geometry extensions for delta robots - RSLogix 5000 V 16. 03 Taking control integration one step further

What is Kinematics ? Z • Logix supports a variety of move types in Cartesian coordinates – Pt-pt/TCAM – Gearing/PCAM – Linear/circular interpolation • Kinematics allows motion commands in World coordinates (typically Cartesian coordinate space) to be transformed to/from Joint space – Inverse Kinematics – Cartesian to Joint – Forward Kinematics – Joint to Cartesian Y X Cartesian Coordinates Cartesian Joint Space • Kinematics facilitates control of non-linear mechanical systems – Articulated arm (Joint/Link) robots Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 2

Logix Kinematics • Eliminates need for complex, application program based approach for robot control – Native, Firmware based solution • High Performance – Firmware based transforms eliminate CPU bandwidth consuming application code • Easy to use – Graphical Kinematics geometry configuration – Kinematic motion instructions • Support for multiple robot geometries • Control. Logix and Guard. Logix L 6 x support Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 3

Programming - Define Robot Geometry Cartesian Coordinate System • Typically virtual axes Robot Joint Coordinate System • Physical robot axes • Select appropriate Specify geometry kinematics geometry Specify joint axes Specify Cartesian axes (Typically Virtual axes) Specify link length Specify zero angle orientation Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 4

Programming - Enable Transform • Initiates a coordinate transformation between two coordinate systems • Once the MCT is active, the user can move axes in Joint positions based upon Cartesian positions or move Cartesian positions based on the Joint positions – Typically scenario is commanded motion on virtual axes in the base Specifies the orientation coordinate system is transformed into motion on the physical axes in the joint Specifies source vector of the Cartesian coordinate system for the transformation Specifies the translation vector of the Cartesian coordinate system Specifies target coordinate system for the transformation Cartesian Coordinate Articulated System Coordinate System Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 5

Translation and Rotation • MCT instruction also allows dynamic path profile translation and rotation in 2 D/3 D • Can be used independent of Kinematics • Allows users to easily shift and rotate (orient) the path profile in space • Typical applications are gluedispensing, material cutting, HBot geometry x 2 Profile translation x 2 x 1 x 2 O x 1 Profile rotation (orientation) O Copyright © 2007 Rockwell Automation, Inc. All rights reserved. x 1 6

Programming - Execute Move Commands • Use any of the move instructions in RSLogix 5000 Articulated Coordinate System – MAM, MAJ, MAH, MAG, MCCM, MCLM, MAPC • Moves executed on the virtual axes in the Cartesian Coordinate system are transformed into joint axis motion in the articulated coordinate system MCT enabled transforms Cartesian Coordinate System Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 7

Transform Position Instruction • Transforms a specified position from the source coordinate system into the target coordinate system and vice versa – Normally used to calculate the Cartesian position from a given joint position (Forward kinematics) – Can be used for recovering after power cycle and/or teaching • Allows for translational as well as orientation offsets between the two systems Specifies the orientation vector of the Cartesian coordinate system Specifies source coordinate system for the transformation Specifies target coordinate system for the transformation Specifies the translation vector of the Cartesian coordinate system Tag name of the instruction Specifies the transform direction Specifies the transform position (source/target) Specifies the reference position (source/target) Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 8

Teaching • Teaching capability can be easily integrated into HMI station • Leverage built-in functionality supported by MCTP instruction Example w/RSView Studio Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 9

Kinematics Geometries Articulated Dependent Delta Articulated Independent Cartesian Delta SCARA Independent Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 10

Kinematics Geometries – H-Bot • Because of its mechanical configuration, programming this robot in Cartesian coordinates can be complicated – Rotating one motor causes the axis to move at a 45° angle • By using the orientation operand in the MCT instruction makes it easy to address H-Bot geometry • Can be used on both horizontal and vertical configurations Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 11

Supported Robot Geometry Examples SCARA Articulated Independent Delta 3 Axes Articulated Independent Delta 2 Axes Copyright © 2007 Rockwell Automation, Inc. All rights reserved. Articulated Dependent Delta SCARA 12

Dedicated Robot Controller - Closed Architecture Issues with Robot Controller Closed Architecture • Separate programming/configuration software • Line controller to robot controller synchronization logic adds complexity, limits performance • Multiple hardware platforms and networks increase cost and panel space • Inconsistent safety solutions • Robot controllers often employ proprietary technology • Limited selection of vision systems Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 13

Logix - Open, Integrated Robot Control Architecture Advantages of Open, Integrated Approach • Single program, one programming package, common programming language • No need for complex synchronization logic • Common hardware platform and networks decrease cost and panel space • Consistent safety solutions • Open, IEC 61131 -3 technology…. ladder programming • Easier to obtain certifications – e. g. CFR 21 Extends the Integrated Architecture Theme – eliminate proprietary robot control Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 14

Logix – Open, Integrated Architecture Integrated Motion, Safety and Kinematics Robot SW Robot Integrated Motion One hardware and software architecture Controller and Safety for discrete, motion, safety and robot control! Safety Robot SW SW Safety Controller Integrated Motion PLC Motion SW SW PLC Motion Controller Robot Controller Safety Robot SW SW Safety Controller Copyright © 2007 Rockwell Automation, Inc. All rights reserved. Robot Controller 15

pyright © 2007 Rockwell Automation, Inc. All rights reserved. Kinematics geometry extensions for delta robots - RSLogix 5000 V 16. 03 Use the same hardware and software architecture to control the discrete, motion, safety and robot sections of your machine.