Locking degrees of freedom

Programming TCP coordinates and locking degrees of freedom of partial kinematics

Programing Example

prg_example

Linear movement of the TCP, locking the Y axis of the linear unit

N010 #KIN ID [210]
N020 #TRAFO ON
N030 #KIN DATA [LOCKDOF AX=Y_LIN]
N040 G00 G90 X_TCP=1000 Y_TCP=500 Z_TCP=50 X_LIN=800
N050 #KIN DATA [UNLOCKDOF AX=Y_LIN]
N060 #TRAFO OFF

The movement is distributed as follows:

 

X

Y

Z

A

B

C

Linear unit

800

0

 

 

 

 

Robot

200

500

50

0

0

0

TCP

1000

500

50

0

0

0

Since the Y axis of the linear unit (Y_LIN) in block N030 is excluded from distributing the TCP movement, the robot travels the programmed Y movement of the TCP.