Sequence of TCP movements of partial kinematics (P-CHAN-00450)


Priority which the couple kinematic uses to split the TCP movement among the partial kinematics.


The algorithm which distributes the programmed TCP coordinates among the partial kinematics precedes the priority defined here: Beginning with the index m = 0 the largest possible part of the movement is to be traversed by this kinematic. The resulting difference to the programmed TCP is handed over to the next kinematic in the list. This step is repeated until the TCP coordinates are reached, or until the last entry within the sequence defined here is reached.


trafo[j].group[k].move_prio[m] where m = 0 … Length of the kinematic chain

kin_step[i].trafo[j].group[k].move_prio[m] (multistep transformations)

Data type


Data range

Maximum of 16 characters



Default value



Each of the names used here must be present within the kinematic chain.

Configuration example: Robot on a linear axis

trafo[0].id 210
trafo[0].group[0].name LIN_ROB
trafo[0].group[0].chain[0] LINEAR
trafo[0].group[0].chain[1] ROBOT
trafo[0].group[0].move_prio[0] ROBOT
trafo[0].group[0].move_prio[1] LINEAR

trafo[1].id 45
trafo[1].name ROBOT

trafo[2].id 91
trafo[2].name LINEAR

In this example, the entire TCP movement is first handed over to the robot. What the robot cannot clear is then adopted by the linear axis.

* Note: The default value of variables is a blank string.