# Parameterising channel parameters

## Manual mode when kinematic transformation is active

Additional Cartesian dynamic limits are available in conjunction with kinematic transformation, i.e. they act on Cartesian position axes and orientation axes.

Typical application examples are in the field of non-linear kinematics (e.g. robots) where the PCS limits (Cartesian programming coordinates) and ACS limits (axis coordinates) can have large differences.

Position axes: (typical axis index 0 to 2)

P-CHAN-00195: maximum velocity

P-CHAN-00196: maximum acceleration

P-CHAN-00197 Ramp time

Orientation axes: (typical axis index 3 to 5)

P-CHAN-00198: maximum velocity

P-CHAN-00199: maximum acceleration

P-CHAN-00200: Ramp time

## Example

Manual mode when kinematic transformation is active

Excerpt from the channel parameter list:

#Position axes

man_mode.vector_limit.v_max_pos 15000

man_mode.vector_limit.a_max_pos 500

man_mode.vector_limit.tr_pos 10000

#orientation axes

man_mode.vector_limit.v_max_ori 15000

man_mode.vector_limit.a_max_ori 500

man_mode.vector_limit.tr_ori 10000

## Notice

Due to the distance accuracy of the manual mode, the maximum permissible velocity in handwheel mode must be set to avoid unnecessarily long motion delay in handwheel mode. Therefore, the distance specified for each CNC cycle should not exceed the maximum velocity.

In the same way the incremental jog velocities must be aligned with the maximum permissible velocity in manual mode to avoid unnecessarily long motion delay after pressing the jog keys. With relatively small acceleration values, a certain delay time inevitably occurs after the jog key is released.