Kinematic parameters (P-CHAN-00263)

P-CHAN-00263

Define kinematic parameters for multi-step transformations

Description

Enter the specific kinematic offsets in this structure for each transformation.

Parameter

trafo[j].param[k] or kin_step[i].trafo[j].param[k] where k = 0 73 (maximum number of kinematic
parameters, application-
specific, syntax as of V300)

Data type

REAL64

Data range

----

Unit

0.1 µm or 0.0001 inch

Default value

0

Remarks

Kinematic parameters can also be entered in the tool data list P-TOOL-00009 (they are then relevant only when a tool is selected, independent on the kinematics).

If a kinematic parameter is assigned in both lists, the specified values are added in the NC. This is only valid for transformation step 1.

No additional kinematic parameters can be entered in the tool data for transformation step 2.

Further details on the parameterisation of a kinematic transformation, see [KITRA] and [PROG] occurs.

Configuration examples:

Example 1: Exclusively single step transformations

Configuration of kinematics 33 and 87. Kinematics with ID 87 are to be the default kinematics.

kinematik_id 87

#

trafo[0].id 33

trafo[0].param[0] 1457000

trafo[0].param[1] 0

trafo[0].param[2] 225000

#

trafo[1].id 87

trafo[1].param[0] 1558000

trafo[1].param[1] 140000

trafo[1].param[2] 2000

Alternatively:

default_id_of_kin_step[0] 87

#

kin_step[0].trafo[0].id 33

kin_step[0].trafo[0].param[0] 1457000

kin_step[0].trafo[0].param[1] 0

kin_step[0].trafo[0].param[2] 225000

#

kin_step[0].trafo[1].id 87

kin_step[0].trafo[1].param[0] 1558000

kin_step[0].trafo[1].param[1] 140000

kin_step[0].trafo[1].param[2] 2000

Example 2: Multi-step transformations

Kinematics 33 and 87 are created in the first step and kinematics 5 and 9 in the second step. After start-up the default kinematics are to be kinematics 87 in the first step and kinematics 5 in the second step.

default_id_of_kin_step[0] 87

default_id_of_kin_step[1] 5

#

#First step

kin_step[0].trafo[0].id 33

kin_step[0].trafo[0].param[0] 1457000

kin_step[0].trafo[0].param[1] 0

kin_step[0].trafo[0].param[2] 225000

#

kin_step[0].trafo[1].id 87

kin_step[0].trafo[1].param[0] 1558000

kin_step[0].trafo[1].param[1] 140000

kin_step[0].trafo[1].param[2] 2000

#

#Second step

kin_step[1].trafo[0].id 5

kin_step[1].trafo[0].param[0] 150000

kin_step[1].trafo[0].param[1] 0

kin_step[1].trafo[0].param[2]

#

kin_step[1].trafo[1].id 9

kin_step[1].trafo[1].param[0] 1567000

kin_step[1].trafo[1].param[1] 130000

kin_step[1].trafo[1].param[2] 4000