Robotic_V002073.zip
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This library is an optional extension to the standard libraries that are supplied with EPAS-4.
It condenses complex program flows into compact function blocks.
You can use the robotic library's function blocks to implement various robot kinematics (motions) on predefined paths in three-dimensional space. There is a strict separation between real motion on a path and the transformation of that motion for nonlinear robot mechanics. You can also use a transformation in conjunction with standard function blocks (MultiCam, VarioPos, Jogging, etc.).
If the real axes are true linear axes (such as portal robots), you can use a path motion function block to move them directly. However, real axes that involve nonlinear mechanics (such as articulated-arm type robots) require a transformation. Motion occurs by means of virtual axes whose position determines the transformed position for the real axes. This position transformation happens in real time one time per SERCOS clock pulse using the "fast task" function.
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