Specification of kinematics ID and offset data
Kinematics ID
The ID required to use a specific kinematic feature results from the specified kinematic type as follows:
KIN_TYP_1 1
KIN_TYP_2 2
etc.
Attention
As of Version V3.00.3012.00, the structures kin_step[i].trafo[j].* or trafo[j].* replace the definition of kinematic data programmed with kinematik[i].*.
The previous structure kinematik[i].* is no longer supported.
Example
Specification of kinematics ID and offset parameters
In CNC versions < V3.00, the kinematics ID and offset parameters (HD offsets) of a kinematic are specified as follows:
kinematik[9].param[0] 500000
kinematik[9].param[1] 0
kinematik[9].param[2] 0
kinematik[9].param[3] 0
with every additional transformation, e.g. Kinematic ID 60
kinematik[60].param[0] 200000
kinematik[60].param[1] 0
As of V3.00, the kinematic must be specified as follows:
trafo[0].id 9
trafo[0].param[0] 5000000
trafo[0].param[1] 0
trafo[0].param[2] 0
trafo[0].param[3] 0
with every additional transformation, e.g. Kinematic ID 60
trafo[1].id 60
trafo[1].param[0] 2000000
trafo[1].param[1] 0
The identical specification of the kinematic with ID 9 to denote multi-step transformations looks like this:
kin_step[0].trafo[0].id 9
kin_step[0].trafo[0].param[0] 5000000
kin_step[0].trafo[0].param[1] 0
kin_step[0].trafo[0].param[2] 0
kin_step[0].trafo[0].param[3] 0
The kinematic for a second transformation step is specified as follows:
kin_step[1].trafo[0].id 20
kin_step[1].trafo[0].param[0] 3000000
Notice
The HDi offsets of a kinematic correspond with the kinematic offsets in the channel parameters, either kinematik[ID].param[i-1] or trafo[idx].param[i-1].
Alternatively, these offsets can be entered in the corresponding value of the tool parameters (P-TOOL-00009).
The units of the offset parameters are 10 E-4 mm for translatory offsets and 10 E-4° for rotary offsets.