Combination of cam and robot functionality

The software module offers the option of combining cams and robot functionalities. Cartesian kinematic models are often used when contours should be traced by means of tabular cams or cams calculated online. Curve profiles are determined and traveled in a synchronized manner for all axes positioned at 90° to each other. Not only can the cam be executed in the BASE or USER coordinate system in a static environment but also in a moving USER coordinate system.

The cam and robot functionalities can be combined by entering the position setpoints, which are usually sent directly to the axes, as Cartesian master positions with X, Y, Z space coordinates and RotZ, RotY, RotX orientations in the MOVIKIT^® Robotics. As in linear or circular interpolation, the robot controller performs the inverse kinematic transformation, among other things, in order to determine the corresponding axis progressions and accordingly controls the joint axes of any kinematics. As a result, the robot's TCP travels the required contour.

For more information on combining cam and robot functionalities, see the application example Combination of electronic cam and robot functionality.