Index of fixed rotation axis (P-CHAN-00178)

P-CHAN-00178

Index of fixed rotary axis to program Euler angles

Description

This parameter is only used for point-vector programming in combination with 6-axis kinematics (robots).

The tool's direction vector is defined via the three vector components (e.g. "VECTOR_ABC"). These vector components result in two Euler rotation angles.

If the orientation can be defined by more than two angles (e.g. robots), the free third Euler angle must be specified by this parameter for use of vector representation.

This index results from considering the sequence of axes which define the position and manual orientation of the machine (e.g. robot).

Parameter

ori.fixed_axis_index

Data type

UNS32

Data range

0 ... MAX(UNS32)

Dimension

----

Default value

0

Remarks

This parameter may only be used exclusively with P-CHAN-00436

Example: Kinematic structure with 3 main axes X, Y, Z and 3 rotary axes A, B, C (robot):

The rotation convention is: A about Z -> B about Y -> C about X

Axis name

Index

Axis type

:

A

B

C

:

3

4

5

:

1st rotary axis

2nd rotary axis

3rd rotary axis

According to the rotation convention above, the last axis (C) rotates about the X axis. If this axis is simultaneously the tool axis, a rotation about this axis only produces a change in the position of the manual coordinate system.

For example, if the rotation axis (C) is to be the fixed axis, the value 5 must be assigned to 'fixed_axis_index'.