Orientation angle mode (PCHAN00112)
PCHAN00112  Mode of orientation angle programming for kinematic transformations 
Description  With a complete transformation, orientation about the coordinate system axes can be programmed either by using an orientation vector with the three components U, V, W or by using three rotation angles A, B, C depending on the transformation type. Due to the additional degree of freedom provided by manual orientation, programming the rotation angles A, B, C is often the property of robot structures. The sequence of the three rotations about the assigned rotary axes X, Y, Z leads to the required target orientation or to the target effector coordinate system. If not otherwise defined, single rotations are executed in a mathematically positive direction about the coordinate system axes which are to be reset. The starting point is an axis sequence with the Cartesian axes X, Y, Z and the rotary axes A, B, C. The default assignment of rotations about the coordinate system axes is A > X, B > Y, C > Z. This may deviate with special angle modes. Some kinematics use special sequences of rotation which are not listed here. In this case, switching using PCHAN00112 is not possible. PCHAN00112 has no measuring with standard fiveaxis kinematics. Special values can be entered in PCHAN00112 for Universal Kinematics (KINID91). 
Parameter  ori_rotation_angle 
Data type  SGN16 
Data range  1: Programmed orientation axes are forwarded to kinematic transformation without any changes. Any Cartesian transformation which may be active with an active rotation has no influence on these orientation axes Complete kinematics transformations 0: YPR (Yaw Pitch Role) sequence of rotation: 1st rotation about Z (C), 2nd rotation negative about Y´ (B), 3rd rotation about X´´ (A) (default) 1: Euler, order of rotation: 1. rotation about Z (C), 2nd rotation about Y´ (B), 3. rotation about Z´´ (C) 2: CBA, similar to YPR with positive B rotation and different axis assignment. Rotation about Z (A), 2nd rotation about Y´ (B), 3rd rotation about X´´ (C). > A15 B90 C20 (CBA) is identical to A20 B90 C15 (YPR). 3: CAB rotation sequence, 1st rotation about Z (C), 2nd rotation about X’ (A), 3rd rotation about Y´’ (B) (as of Build V3.1.3079.35) 4: CBA_STD, corresponds to CBA with a different axis assignment Rotation sequence: 1. rotation about Z(C), 2nd rotation about Y‘(B), 3rd rotation about X‘‘(A) 5: ABC rotation sequence, 1st rotation about X (A), 2nd rotation about Y´ (B), 3rd rotation about Z´´ (C). (as of Build V3.1.3079.35) 2 degrees of freedom for orientation (cf. KINID 91) 14: AB Rotation sequence: 1. rotation about X(A), 2nd rotation about Y‘ (B) (as of Build V3.1.3079.30) 15: BA Rotation sequence: 1. rotation about Y(B), 2nd rotation about X‘(A) (as of Build V3.1.3079.30) 2nd
Universal kinematic transformations (KINID 91): 10: Pointvector 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, allows the programming of 45° axis positions. 14: AB programming. 15: BA programming. 16: AC programming. 17: CA programming. 18: BC programming. 19: CB programming. 
Dimension   
Default value  0 
Remarks 
