Description of flange and tool

The parameters zero_position (P-CHAN-00286) and zero_orientation (P-CHAN-00285) specify the zero position and the zero orientation of the machine.

Zero orientation of the machine

The parameter P-CHAN-00286 specifies the position of the flange in the zero orientation of the machine.

Example

Parameter definition of the flange zero position

# Flange rests at point (12000, -3200, 500)

kinematik[91].zero_position[0]    12000

kinematik[91].zero_position[1]    -3200

kinematik[91].zero_position[2]    500

Tool orientation in relation to zero position

The parameter P-CHAN-00285 specifies the position of the tool in the zero orientation of the machine.

The parameter zero_orientation then only acts on the kinematic if a tool length is used. In the zero orientation of the machine, the position of the TCP is calculated as follows:

TCP = zero_position - tool length * zero_orientation

Example

Zero orientation of the tool

# Tool points in Z direction

kinematik[91].zero_orientation[0]    0

kinematik[91].zero_orientation[1]    0

kinematik[91].zero_orientation[2]    1

Example

Zero orientation of the tool at an angle of 45 degrees

# Tool is at an angle of 45° to the Y and Z axes

kinematik[91].zero_orientation[0]    0

kinematik[91].zero_orientation[1]    1

kinematik[91].zero_orientation[2]    1

The parameter zero_orientation (P-CHAN-00285) must not be specified as a unit vector of length 1. It is automatically normalised when read. This means, the previous examples has the same zero orientation as the example below.

Example

Zero orientation of the tool at an angle of 45 degrees without normalisation

# Tool is at an angle of 45° to the Y and Z axes

kinematik[91].zero_orientation[0]    0

kinematik[91].zero_orientation[1]    0,707

kinematik[91].zero_orientation[2]    0,707