ctrlX CORE – CODESYS SoftMotion – SCARA robot kinematics

Описание: The ctrlX AUTOMATION platform now supports CODESYS SoftMotion.
SoftMotion is a fully-featured path planner for IEC61131-3 PLC applications which includes controlling robots of the type SCARA (Selective Compliance Assembly Robot Arm).
This video provides:
Basic steps in configuring and driving a (left- and right-handed) SCARA robot on the ctrlX AUTOMATION platform using CODESYS SoftMotion.

• Video content:
00:10 Introduction
00:23 SCARA robot overview
00:46 Transformation function blocks (FB)
00:56 Project configuration with ctrlX PLC Engineering software
01:24 Dialog for robot linkage lengths, angle and offsets
01:31 Assignment of physical axes
01:44 Illustration of linkages
02:02 Joint angles review
02:19 Left-handed SCARA with fixed wrist angle showing program and axis coordinates
02:43 Commanding motion of left-handed configuration
03:42 Right-handed SCARA configuration
04.04 Commanding motion of right-handed configuration


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