Lock the Cartesian degree of freedom of the coupling kinematic (P-CHAN-00458)
P-CHAN-00458 | Lock the Cartesian degrees of freedom of the couple kinematic |
Description | This parameter influences the behaviour of the coupling kinematic with a programmed TCP. While the TCP movement is distributed among the individual partial kinematics, the locked axes are not moved. Index k describes the axis index to be locked. A parameter value > 0 marks the axis with axis index k as locked. |
Parameter | trafo[i].lock_dof[k] kin_step[i].trafo[j].lock_dof[k] (multistep transformations) |
Data type | BOOLEAN |
Data range | 0 / 1 |
Dimension | ---- |
Default value | 0 |
Remarks | A locked axis may continue to be programmed directly by its axis identifier. Configuration example: trafo[0].id 210 |