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SCARA Robot Selective Compliance Assembly Arm
Inverse kinematics and trajectory planning for 3-DOF SCARA robot. Smooth transition between end-effector target points, singularity protection and real-time joint angle display.
IK Trajectory PLCopen Servo Lenze i750 PLC Designer Lenze c520
SCARA-4 / TRAJECTORY v1.0 | Selective Compliance Robot Controller
● RUNNING
▸ END EFFECTOR
X0mm
Y0mm
▸ JOINTS
θ10deg
θ20deg
▸ SYSTEM
TARGET1
STATUSMOVING
SPEED0mm/s
▸ AXES
LINK-1 OK
LINK-2 OK
Z-AXIS OK
MOTION:
SPEED 1.0 ×
⊕ TRAJECTORY
IK: Inverse Kinematics · PLCopen P2 What Does It Do?
- ▸ Reaches defined target points with 3-DOF SCARA arm
- ▸ Joint angles computed in real-time via inverse kinematics
- ▸ Smooth ease-in/out transition profile between targets
- ▸ Assembly operations with ±0.02 mm repeatability
How Does It Work?
- ▸ Target XY → IK computes θ1, θ2 joint angles
- ▸ Angles approach target via smoothstep interpolation
- ▸ Singularity protection activates for out-of-reach points
- ▸ Coordinated 3-axis motion via PLCopen Part 2
Industrial Use Cases
- ⚙ PCB component assembly (SMT / pick&place)
- ⚙ Electronic & optical precision assembly
- ⚙ Screw fastening & adhesive dispensing
- ⚙ Laboratory automation & test systems
- ⚙ Small parts sorting & packaging
// Traditional System vs. SCARA Robot
| Criterion | ❌ Traditional (Manual / Fixed) | ✅ SCARA Robot |
|---|---|---|
| Repeatability | ±0.5 mm | ±0.02 mm |
| Assembly speed | 8–15 sec/part | 1–3 sec/part |
| Reach | Fixed | max 500 mm |
| Singularity protection | None (mechanical) | Software limit |
| Axis synchronization | Ladder timer | PLCopen coord. |
// Typical Application Parameters
| Parameter | Value | Unit / Note |
|---|---|---|
| Link 1 length | 300 | mm |
| Link 2 length | 200 | mm |
| Z stroke | 150 | mm |
| Max payload | 5 | kg |
| Repeatability | ±0.02 | mm |
| Servo drive | Lenze i750 | 4-axis |
| Controller | Lenze c520 | Motion PLC |
| Software | PLC Designer | FAST Robotik |
| PLC Task Cycle | 1 | ms |
// Cycle Phases (Auto Mode)
IDLE
Robot waits at current position
MOVE
Inverse kinematics move to target
ARRIVE
Arrived at target waypoint
DWELL
Short dwell time at target
NEXT
Advance to next waypoint in program