Kinematics geometry extensions for delta robots - RSLogix 5000 V16.03 Taking control integration one step further

Cartesian Coordinates What is Kinematics ? X Y Z Cartesian Coordinates 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 Kinematics facilitates control of non-linear mechanical systems Articulated arm (Joint/Link) robots Delta robots SCARA robots Cartesian Joint Space Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 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 ControlLogix and GuardLogix L6x support Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

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

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 coordinate system is transformed into motion on the physical axes in the joint coordinate system Specifies the orientation vector of the Cartesian coordinate system Specifies source coordinate system for the transformation Specifies the translation vector of the Cartesian coordinate system Specifies target coordinate system for the transformation Cartesian Coordinate System Articulated Coordinate System Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

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

Programming - Execute Move Commands Use any of the move instructions in RSLogix 5000 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 Articulated Coordinate System MCT enabled transforms Cartesian Coordinate System Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

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 source coordinate system for the transformation Specifies target coordinate system for Tag name of the instruction Specifies the translation vector of the Cartesian coordinate system Specifies the transform direction Specifies the reference position (source/target) Specifies the transform position (source/target) Specifies the orientation vector Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

Example w/RSView Studio 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.

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

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.

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

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.

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. CFR21 Extends the Integrated Architecture Theme – eliminate proprietary robot control Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

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

Kinematics geometry extensions for delta robots - RSLogix 5000 V16.03 Use the same hardware and software architecture to control the discrete, motion, safety and robot sections of your machine.