1. Kinematics geometry extensions for delta robots - RSLogix 5000 V16.03
Taking control integration one step further

2. Cartesian Coordinates
What is Kinematics ? X Y Z
Cartesian Coordinates
Logix supports a variety of move types in Cartesian coordinates
Pt-pt/TCAM
Gearing/PCAM
Linear/circular interpolation
Kinematics allows motion commands in World coordinates (typically Cartesian coordinate space) to be transformed to/from Joint space
Inverse Kinematics – Cartesian to Joint
Forward Kinematics – Joint to Cartesian
Kinematics facilitates control of non-linear mechanical systems
Articulated arm (Joint/Link) robots
Delta robots
SCARA robots
Cartesian
Joint Space
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

3. Copyright © 2007 Rockwell Automation, Inc. All rights reserved.
Logix Kinematics
Eliminates need for complex, application program based approach for robot control
Native, Firmware based solution
High Performance
Firmware based transforms eliminate CPU bandwidth consuming application code
Easy to use
Graphical Kinematics geometry configuration
Kinematic motion instructions
Support for multiple robot geometries
ControlLogix and GuardLogix L6x support
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

4. Programming - Define Robot Geometry
Specify Cartesian axes
(Typically Virtual axes)
Cartesian Coordinate System
Typically virtual axes
Specify link length
Specify zero angle orientation
Specify kinematics geometry
Specify joint axes
Robot Joint Coordinate System
Physical robot axes
Select appropriate geometry
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

5. Programming - Enable Transform
Initiates a coordinate transformation between two coordinate systems
Once the MCT is active, the user can move axes in Joint positions based upon Cartesian positions or move Cartesian positions based on the Joint positions
Typically scenario is commanded motion on virtual axes in the base coordinate system is transformed into motion on the physical axes in the joint coordinate system
Specifies the orientation
vector of the Cartesian
coordinate system
Specifies source
coordinate
system for
the transformation
Specifies the translation
vector of the Cartesian
coordinate system
Specifies target
coordinate system for
the transformation
Cartesian Coordinate System
Articulated Coordinate System
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

6. Translation and Rotation
MCT instruction also allows dynamic path profile translation and rotation in 2D/3D
Can be used independent of Kinematics
Allows users to easily shift and rotate (orient) the path profile in space
Typical applications are glue-dispensing, material cutting, HBot geometry x 1 2 O
Profile translation x 1 2 O
Profile rotation
(orientation)
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

7. Programming - Execute Move Commands
Use any of the move instructions in RSLogix 5000
MAM, MAJ, MAH, MAG, MCCM, MCLM, MAPC
Moves executed on the virtual axes in the Cartesian Coordinate system are transformed into joint axis motion in the articulated coordinate system
Articulated Coordinate System
MCT enabled transforms
Cartesian Coordinate System
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

8. Transform Position Instruction
Transforms a specified position from the source coordinate system into the target coordinate system and vice versa
Normally used to calculate the Cartesian position from a given joint position (Forward kinematics)
Can be used for recovering after power cycle and/or teaching
Allows for translational as well as orientation offsets between the two systems
Specifies source
coordinate
system for
the transformation
Specifies target
coordinate system for
Tag name of the instruction
Specifies the translation vector
of the Cartesian
coordinate system
Specifies the transform direction
Specifies the reference position (source/target)
Specifies the transform position
(source/target)
Specifies the orientation vector
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

9. Example w/RSView Studio
Teaching
Teaching capability can be easily integrated into HMI station
Leverage built-in functionality supported by MCTP instruction
Example w/RSView Studio
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

10. Kinematics Geometries
Articulated Dependent
Articulated Independent
Cartesian
SCARA Independent
Delta SCARA
Delta
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

11. Kinematics Geometries – H-Bot
Because of its mechanical configuration, programming this robot in Cartesian coordinates can be complicated
Rotating one motor causes the axis to move at a 45° angle
By using the orientation operand in the MCT instruction makes it easy to address H-Bot geometry
Can be used on both horizontal and vertical configurations
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

12. Supported Robot Geometry Examples
SCARA
Articulated Independent
Articulated Independent
Articulated Dependent
Delta 3 Axes
Delta 2 Axes
Delta SCARA
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

13. Dedicated Robot Controller - Closed Architecture
Issues with Robot Controller Closed Architecture
Separate programming/configuration software
Line controller to robot controller synchronization logic adds complexity, limits performance
Multiple hardware platforms and networks increase cost and panel space
Inconsistent safety solutions
Robot controllers often employ proprietary technology
Limited selection of vision systems
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

14. Logix - Open, Integrated Robot Control Architecture
Advantages of Open, Integrated Approach
Single program, one programming package, common programming language
No need for complex synchronization logic
Common hardware platform and networks decrease cost and panel space
Consistent safety solutions
Open, IEC technology….ladder programming
Easier to obtain certifications – e.g. CFR21
Extends the Integrated Architecture Theme – eliminate proprietary robot control
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

15. Logix – Open, Integrated Architecture
Integrated Motion,
Safety and Kinematics
Integrated Motion and Safety
Robot SW
Controller
One hardware and software architecture
for discrete, motion, safety and robot control!
Integrated
Motion
Safety SW
Controller
Robot
PLC SW
Motion
Controller
Safety
Robot
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.

16. Kinematics geometry extensions for delta robots - RSLogix 5000 V16.03
Use the same hardware and software architecture to control the discrete, motion, safety and robot sections of your machine.