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



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 continue to be used to configure kinematics for single-step (default) transformations (Single-Step Transformations) as previous kinematics.

In addition, the new structures permit the configuration of kinematics which consist of several transformation steps (Multi-Step Transformations). This requires parameterisation in separate data records kin_step[i].*.



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



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 the kinematic parameters, the related kinematic ID is entered in the data record as an additional parameter (see description of P-CHAN-00262 and P-CHAN-00263) is inactive.

Structure name



j = 0 ... 9


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

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



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