# Kinematic data (kin_step[i].trafo[j].* / trafo[j].* / trafo_pcs[j].)

## Attention

As of Version V3.00.3012.00, the structures kin_step[i].trafo[j].* or trafo[j].* replace the definition of kinematic data programmed with kinematik[i].*.

The previous structure kinematik[i].* is no longer supported.

The new structures can be used to configure single-step (default) transformations (Single-step transformations) in the same way as previous kinematics.

In addition, the new structures permit the configuration of kinematics consisting of several transformation steps (multi-step transformations). This requires parameterisation in separate data records kin_step[i].*.

## Notice

Currently, a multi-step transformation may consist of maximum 2 steps.

The transformations of the first transformation step are defined in the structure kin_step[0].

The transformations of the second transformation step are defined in the structures of kin_step[1].

Structure name | index
kin_step[i] | i = 0 (Step 1), 1 (Step 2)

A maximum of 10 different transformations can be configured in each transformation step in the structure (trafo[j].*). Besides kinematic parameters, the associated kinematic ID is entered into the data record as an additional parameter (see descriptions of P-CHAN-00262 and P-CHAN-00263).

Structure name | index
trafo[j] | j = 0 ... 9

Example:

kin_step[0].trafo[j].* ;kinematics for transformation step 1

kin_step[1].trafo[j].* ;kinematics for transformation step 2

## Notice

The definition of a single-step transformation can be created directly in trafo[j].* without specifying the element kin_step[0]. For example, the syntax of kin_step[0].trafo[0].* and trafo[0].* are completely equivalent.

The definition of multi-step transformations requires the specification of kin_step[i].*. The sequence of the configuration steps takes place in the direction of forward transformation.

PCS transformations are available as of CNC Build V3.1.3110.

Structure name | index
trafo_pcs[j] | j = 0 ... 9

## Additional information

- Definition of kinematic ID (P-CHAN-00262)
- Kinematic type (P-CHAN-00829)
- Kinematic parameters (P-CHAN-00263)
- Configuration of Universal Kinematics
- Correction values for kinematics (P-CHAN-00438)
- Basic offsets for stacked kinematics (P-CHAN-00446)
- Default kinematic for PCS transformation (P-CHAN-00854)