ACR Electronics FPR-10 PROGRAMMER Manuel télécharger pdf (Page 170)

Parker Hannifin

170 Programmer’s Guide

Exiting “Pass Through” Mode

Exiting the “pass through” mode and closing the Drive Talk session

are two distinct acts. Though you exit the “pass through” mode, the

Drive Talk session remains open. See the section titled Closing Drive

Talk (above).

► To exit the “pass through” mode from the terminal, send the

escape character (ASCII 27).

Inverse Kinematics

Kinematics is a branch of mechanics that provides a mathematical

means of describing motion. Inverse kinematics looks at a position

and works backwards to determine the motions necessary to obtain

that position.

Robotic applications frequently use inverse kinematics. Algorithms

describe the mechanical system, and translate the rotational motion

of robotics into Cartesian coordinates. Consequently, an end user

provides simple Cartesian coordinates for an application, and the

inverse kinematics calculates necessary movements to reach that

position.

Suppose an application has a cutting tool at the end of a 4-axis

robotic arm, and an HMI. The controller, using algorithms developed

by the application builder, transforms the motion target-points from

Cartesian coordinates to rotational coordinates to position the arm

joints and cutting tool. Once transformed, the controller interpolates

the target points to generate a motion path. See the illustration

below:

Programming the Inverse Kinematics

Each application is different. The algorithm for your application can

consist of equations, logical expressions, and commands in the

AcroBASIC language. You can do the following:

• Store algorithms in any of the programs 0 through 15 (be sure

to dimension memory for the program).

• Save the program to Flash memory.

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ACR Electronics FPR-10 PROGRAMMER Manuel Page 170