# Machine kinematics (#KIN ID)

## Notice

Not included in the scope of the standard license. The use of this feature requires a license for the "Transformations” extension package.

Syntax of Defining machine/tool head kinematics:
#KIN ID [ [<kin_id>] ] | Defining machine/tool head kinematics

<kin_id> | Kinematic ID The purpose of the kinematic ID is to identify the machine or tool head-specific kinematic types implemented in the controller. Their default setting after controller start-up is parameterised in P-CHAN-00032.

The default kinematic ID is set by programming #KIN ID without parameters.

In addition, a kinematic change can be executed automatically when the tool is changed by assigning the "kin_id” element in the tool data list.

An unknown kinematic ID causes the output of an error message and a decoding stop when RTCP, TLC or TOOL ORI CS is selected.

When kinematic ID 0 is selected, no kinematic is enabled with no warning or error message.

## Attention

It is not permitted to change kinematics with #KIN ID... when RTCP or TLC is active.

## Programing Example

Machine kinematics

N10 #TOOL ORI CS (Align tool, default kinematic)
(valid from P-CHAN-00032.)

N20 T1 D1 (Select tool)

N30 #TRAFO ON (Select RTCP, default kinematic)
(valid from P-CHAN-00032)

.

.

N40 #TRAFO ON (Deselect RTCP)

N50 #KIN ID[2] (Select kinematic which is saved in the)
(internal library under ID '2' )

N60 #TRAFO ON (Select RTCP, kinematic 2)

.

.

N70 #TRAFO ON (Deselect RTCP)

N80 M30