# KIN_TYP_98- Transformation to monitor the minimum distance

## Release Note

This function is available as of V3.1.3080.12 or V3.1.3107.44

This transformation can monitor and maintain a defined minimum distance to the workpiece surface at the tool inclination.

Monitoring the minimum distance

The laser length L1 must be programmed as the tool length, e.g. programmed via V.G.WZ_AKT.L.

Tool length L2 is the tool length that is extended by the kinematic due to the avoidance motion.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Tool clamping point offset up to tool head reference point | 1.0 E-4 mm
HD2 | 1 | Inclination angle starting at which the distance of the tool head to the surface is kept constant. | 1.0 E-4°
HD3 | 2 | Maximum inclination angle starting at which the distance of the tool head to the surface is kept constant. | 1.0 E-4°
HD4 | 3 | Maximum inclination angle. When exceeded, an error message is output with process abort. | 1.0 E-4°