This is a convenient module that allows a group of axes to be moved in a coordinated fashion in joint control mode without a kinematic model. This is beneficial for customers who wish to test the Guidance controller when an appropriate kinematic module does not exist. If a program attempts to utilize a Cartesian Location or perform a Cartesian motion when this module is selected, an error is generated.
This module can be used to control from 1 to 12 axes in a coordinated fashion. The axes can be any combination of rotary or linear axes. Joint (non-Cartesian) motions are supported as well as Joint and Free jogging mode.
Kinematics Module Number and Required Software License
Module number to be entered into the "Robot type" (DataID 116): 1
Required software kinematic license (entered using the web interface panel Utilities > Controller Options if not already installed): None.
Kinematic Model
Axis Optional Max Range Description 1 - 12
Yes
Unlimited
Any combination of rotary and linear axes is permitted. Any rotary axis can be configured for "Continuous Turn (Encoder Rollover Compensation)".
Parameter Database Values
The following table describes the Parameter Database values that are utilized to configure the kinematic module. Standard motion control parameters such as servo tuning values, limit stops, the homing specification, etc are not included in the table.
Parameter Database ID Parameter Name Description 2000
Number of axes
Can be set from 1 to 12.
2001
Split-axis mask
Not applicable.
2003
Axis mask
Bit mask indicating the specific axes that are to be controlled. For this kinematic module, the value of this parameter is ignored.
2005
Motor linearity compensation
Not supported.
2006
Robot type special option flags
Not applicable.
2701 / 2703
100% Cartesian speeds and accels
Not applicable.
16050
Kinematic dimensional constants
Not applicable.
16051
Tool set at restart
Not applicable.
16052
Base set at restart
Not applicable.
Robot Configuration ("Config") Parameters
This kinematic module makes use of the following Location Config property flags to control how Cartesian positions and orientations are converted to joint angles:
None since Cartesian control not supported.
Special Compensation
This kinematic module does support "Continuous Turn (Encoder Rollover Compensation)" for any rotary axis.
This kinematic module does not support "Motor Coupling", "Linearity Compensation" or "Split-Axis Control".
This kinematic module does not support "Dynamic Feedforward" compensation (DFF).
Additional Considerations
Cartesian Locations, Cartesian motions, and Robot.Base and Robot.Tool are not supported by this module.
This kinematic module does not utilize the Custom Kinematic Parameters accessed by Robot.Custom.
This kinematic module does not have any extra, independent axes so Move.Extra has no affect.