Interpolation point on the axis (P-CHAN-00293)

P-CHAN-00293

Interpolation point on the axis (Universal Kinematics)

Description

Parameter defines an interpolation point on the axis (position X, Y, Z, only relevant for rotary axes).

Parameter

trafo[j].axis[k].point[l] where l = 0, 1, 2

or kin_step[i].trafo[j].axis[k].point[l]

or kinematik[91].axis[k].point[l]

Data type

REAL64

Data range

----

Dimension

0.1µm

Default value

0

Remarks

 

Configuration example of mapping the classic CA kinematics according to Kinematic ID 9 (Y, X, Z, C, A) onto the configuration of Universal Kinematics
Configuration example of mapping the classic CA kinematics according to Kinematic ID 9 (Y, X, Z, C, A) onto the configuration of Universal Kinematics

Configuration of universal kinematics in channel parameter list:

# Zero orientation of the tool

# Tool points in Z direction

kinematik[91].zero_orientation[0] 0

kinematik[91].zero_orientation[1] 0

kinematik[91].zero_orientation[2] 1

# Zero position of the tool

# Tool rests at point (12000, -3200, 500)

kinematik[91].zero_position[0] 12000

kinematik[91].zero_position[1] -3200

kinematik[91].zero_position[2] 500

kinematik[91].number_of_axes 5

kinematik[91].programming_mode 17

kinematik[91].rtcp 1

# Define X axis (index 0)

kinematik[91].axis[0].type 1

kinematik[91].axis[0].orientation[0] 1

kinematik[91].axis[0].orientation[1] 0

kinematik[91].axis[0].orientation[2] 0

...

# Define Y axis (index 1)

kinematik[91].axis[1].type 1

kinematik[91].axis[1].orientation[0] 0

kinematik[91].axis[1].orientation[1] 1

kinematik[91].axis[1].orientation[2] 0

...

# Define Z axis (index 2)

kinematik[91].axis[2].type 1

kinematik[91].axis[2].orientation[0] 0

kinematik[91].axis[2].orientation[1] 0

kinematik[91].axis[2].orientation[2] 1

...

# define C axis (index 3)

# points in Z direction and crosses

# point (800, 1200, 0)

kinematik[91].axis[3].type 2

kinematik[91].axis[3].orientation[0] 0

kinematik[91].axis[3].orientation[1] 0

kinematik[91].axis[3].orientation[2] 1

kinematik[91].axis[3].point[0] 800

kinematik[91].axis[3].point[1] 1200

kinematik[91].axis[3].point[2] 0

# Define A axis (index 4)

kinematik[91].axis[4].type 2

kinematik[91].axis[4].orientation[0] 1

kinematik[91].axis[4].orientation[1] 0

kinematik[91].axis[4].orientation[2] 0

...

# Sequence in kin. chain: YXZCA

kinematik[91].chain[0] 1 # Y axis

kinematik[91].chain[1] 0 # X axis

kinematik[91].chain[2] 2 # Z axis

kinematik[91].chain[3] 3 # C axis

kinematik[91].chain[4] 4 # A axis