Kinematic structure
Machine type: 3-axis machine (3 axes + spindle)
Axis identifiers as per the machine labelling
Axes in the tool: Z1, Z2, Z3,(Spindle B)
Axes in the workpiece -
Axis configuration in the sda_mds.lis: X, Y, Z
Kinematic ID | Axis sequence | |
12 | X, Y, Z (Z1, Z2, Z3) | |
Parameter | ||
Offset | list | Meaning |
HD1 | trafo[1].param[0] | Tool offset Z |
HD2 | trafo[1].param[1] | Tool offset X |
HD3 | trafo[1].param[2] | Tool offset Y |
HD4 | trafo[1].param[3] | Z offset machine axis zero origin. |
HD5 | trafo[1].param[4] | Radius to connecting line of the joint centre points on the drive columns (large circle) |
HD6 | trafo[1].param[5] | Radius to connecting line of the joint centre points on the holder platform (small circle) |
HD7 | trafo[1].param[6] | Strut length to each joint centre point |
HD8 | trafo[1].param[7] | Switch for switching to non-ideal tripod (enable HD9 / HD 10) |
HD9 | trafo[1].param[8] | Angle column / joint 3 to column / joint 1 |
HD10 | trafo[1].param[9] | Angle column / joint 3 to column / joint 2 |
Axis configuration and kinematic offsets
Excerpt from the channel parameter list:
# Define axis configuration
# =================================
gruppe[0].achse[0].log_achs_nr 1
gruppe[0].achse[0].bezeichnung X
#
gruppe[0].achse[1].log_achs_nr 2
gruppe[0].achse[1].bezeichnung Y
#
gruppe[0].achse[2].log_achs_nr 3
gruppe[0].achse[2].bezeichnung Z
#
# Define kinematic parameters
# =================================
# Offsets in 0.1 μm
#
# Parameterising the tripod
trafo[1].id 12 ( Tripod P-CHAN-00262
trafo[1].param[0] 500000
trafo[1].param[1] 0
trafo[1].param[2] 0
trafo[1].param[3] 9100000
trafo[1].param[4] 4585000
trafo[1].param[5] 725900
trafo[1].param[6] 7020000
Notice
It is essential to specify the value of P-CHAN-00262.
If this parameter is not set, when the transformation is selected with
#TRAFO ON, error ID 21630 is output.