Programming mode (P-CHAN-00288)
P-CHAN-00288 | Programming mode (Universal Kinematics) |
Description | The programming mode defines the tool orientation from the programmed values (point-vector mode or angle modes). Alternatively the mode can also be set by the channel parameter P-CHAN-00112 . A setting of the kinematics has priority over P-CHAN-00112. |
Parameter | trafo[j].programming_mode kin_step[i].trafo[j].programming_mode (multistep transformations) kinematik[91].programming_mode (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | 10: Point-vector programming. Tool orientation is programmed by the axes U, V, W. The vector [U, V, W] need not be normalised but neither may it be the zero vector. 11: Free programming. Not currently supported. 12: Direct programming. The configured kinematic chain is used to calculate the tool position and orientation from programmed Cartesian coordinates and angles. 13: Conformal programming. Same as direct programming but without any axis offsets, shifts or direction flags. For example, enables the programming of 45° axis positions. 14: AB programming. 15: BA programming. 16: AC programming. 17: CA programming. 18: BC programming. 19: BC programming. |
Dimension | ---- |
Default value | 0 |
Remarks |
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