Kinematic Transformation Factors

[aFouraker]

Hello, I see the various linkages in the manual for the kinematics but I do not see the transformation factors depticted in the image here. Are there such factors? 

[CodeShepherd]

Please have a look to the official online documentation "Axis transformation" for the ctrlX OS - MOTION app version 2.x for further information.

Which kind of transformation do you like to use?

[aFouraker]

Below is an image from the IndraWorks manual. Its shows paraemters that allowed things like a mechanical coupling between axes so that the movement of one axis required an adjustment in another axis to maintain position. These are the sorts of factors that I do not see in the current version of the motion manual. 

[CodeShepherd · Accepted solution]

Currently there are no such factors available in the ctrlX MOTION. But you can have a full functional orientation of the TCP, what has not been available this way in the MLC. 

Feel free to give us some more information about your mechanics and what you want to achieve, so we can check if it is possible.

[craigthomp]

We are trying to run the following 4 axis SCARA robot:

https://www.rprobotic.com/products/python450-b6-scara-industrial-robots/

The rotate J3 and Z axis are mechanically coupled , therefore as the Z linearly, the rotate must also turn hold the angle oreintation.  This is a common setup and needs the K2 factor like that of the MLC.

[CodeShepherd]

After some internal research I found that your exact mechanic cannot be used with a ctrlX MOTION currently. I created a new feature to implement such factors.