Transformation between axis values and Cart. coordinates (P-CHAN-00295)
P-CHAN-00295 | Transformation between axis values and Cartesian coordinates (Universal Kinematics) |
Description | Definition of a matrix and an offset vector to describe a linear transformation between axis values of the linear axes and Cartesian coordinates.
Rotary axes are not included in the calculation. The letters X, Y, Z stand here for the three linear axes of the Universal Kinematics in the order of their definition in the parameter trafo[].axis[] (P-CHAN-00293) is inactive. The matrix is defined in trafo[].linkage[0-2][0-2]. The first index specifies the line number; the second index specifies the column number; both are 0-based. The offset vector is defined in trafo[].linkage[0-2][3]. For configuration example, see [FCT-C27// Transformation between axis values and Cartesian coordinates]. |
Parameter | trafo[j].linkage[k][l] where k = 0, 1, 2 and l = 0, 1, 2, 3 kin_step[i].trafo[j].linkage[k][l] (multistep transformations) kinematik[91].linkage[k][l] (up to Build V2.11.28xx) |
Data type | REAL64 |
Data range |
|
Dimension | for the matrix: ---- for the offset vector: 0.1 µm |
Default value | 0 |
Remarks |
|
