Hinweise zur Parametrierung
Die Parametrierung der Universalkinematik kann über
- Listen-Parameter: kinematik[91].param[i] bzw. trafo[j].param[i]
- V.G.-Variablen: V.G.KIN[91].PARAM[i] / V.KIN[91].ZERO…
- Werkzeugversätze, Werkzeugdatenbank
erfolgen.
Achtung
Alle unterschiedlichen Parametriermöglichkeiten nutzen dieselbe Speicherstelle. Bei Schreib- und Lesezugriffen ist dies zwingend zu beachten.
Nachfolgend ist exemplarisch eine Gegenüberstellung der beiden Parametriermöglichkeiten über V.G.-Variablen.
V.G.KIN[91].ZERO_ORIENTATION[0] = V.G.KIN[91].PARAM[0]
V.G.KIN[91].ZERO_ORIENTATION[1] = V.G.KIN[91].PARAM[1]
V.G.KIN[91].ZERO_ORIENTATION[2] = V.G.KIN[91].PARAM[2]
V.G.KIN[91].ZERO_POSITION[0] = V.G.KIN[91].PARAM[3]
V.G.KIN[91].ZERO_POSITION[1] = V.G.KIN[91].PARAM[4]
V.G.KIN[91].ZERO_POSITION[2] = V.G.KIN[91].PARAM[5]
V.G.KIN[91].NUMBER_OF_AXES = V.G.KIN[91].PARAM[6]
V.G.KIN[91].AXIS[0].TYPE = V.G.KIN[91].PARAM[7]
V.G.KIN[91].AXIS[0].ORIENTATION[0] = V.G.KIN[91].PARAM[8]
V.G.KIN[91].AXIS[0].ORIENTATION[1] = V.G.KIN[91].PARAM[9]
V.G.KIN[91].AXIS[0].ORIENTATION[2] = V.G.KIN[91].PARAM[10]
V.G.KIN[91].AXIS[0].POINT[0] = V.G.KIN[91].PARAM[11]
V.G.KIN[91].AXIS[0].POINT[1] = V.G.KIN[91].PARAM[12]
V.G.KIN[91].AXIS[0].POINT[2] = V.G.KIN[91].PARAM[13]
V.G.KIN[91].AXIS[1].TYPE = V.G.KIN[91].PARAM[14]
V.G.KIN[91].AXIS[1].ORIENTATION[0] = V.G.KIN[91].PARAM[15]
V.G.KIN[91].AXIS[1].ORIENTATION[1] = V.G.KIN[91].PARAM[16]
V.G.KIN[91].AXIS[1].ORIENTATION[2] = V.G.KIN[91].PARAM[17]
V.G.KIN[91].AXIS[1].POINT[0] = V.G.KIN[91].PARAM[18]
V.G.KIN[91].AXIS[1].POINT[1] = V.G.KIN[91].PARAM[19]
V.G.KIN[91].AXIS[1].POINT[2] = V.G.KIN[91].PARAM[20]
V.G.KIN[91].AXIS[2].TYPE = V.G.KIN[91].PARAM[21]
V.G.KIN[91].AXIS[2].ORIENTATION[0] = V.G.KIN[91].PARAM[22]
V.G.KIN[91].AXIS[2].ORIENTATION[1] = V.G.KIN[91].PARAM[23]
V.G.KIN[91].AXIS[2].ORIENTATION[2] = V.G.KIN[91].PARAM[24]
V.G.KIN[91].AXIS[2].POINT[0] = V.G.KIN[91].PARAM[25]
V.G.KIN[91].AXIS[2].POINT[1] = V.G.KIN[91].PARAM[26]
V.G.KIN[91].AXIS[2].POINT[2] = V.G.KIN[91].PARAM[27]
V.G.KIN[91].AXIS[3].TYPE = V.G.KIN[91].PARAM[28]
V.G.KIN[91].AXIS[3].ORIENTATION[0] = V.G.KIN[91].PARAM[29]
V.G.KIN[91].AXIS[3].ORIENTATION[1] = V.G.KIN[91].PARAM[30]
V.G.KIN[91].AXIS[3].ORIENTATION[2] = V.G.KIN[91].PARAM[31]
V.G.KIN[91].AXIS[3].POINT[0] = V.G.KIN[91].PARAM[32]
V.G.KIN[91].AXIS[3].POINT[1] = V.G.KIN[91].PARAM[33]
V.G.KIN[91].AXIS[3].POINT[2] = V.G.KIN[91].PARAM[34]
V.G.KIN[91].AXIS[4].TYPE = V.G.KIN[91].PARAM[35]
V.G.KIN[91].AXIS[4].ORIENTATION[0] = V.G.KIN[91].PARAM[36]
V.G.KIN[91].AXIS[4].ORIENTATION[1] = V.G.KIN[91].PARAM[37]
V.G.KIN[91].AXIS[4].ORIENTATION[2] = V.G.KIN[91].PARAM[38]
V.G.KIN[91].AXIS[4].POINT[0] = V.G.KIN[91].PARAM[39]
V.G.KIN[91].AXIS[4].POINT[1] = V.G.KIN[91].PARAM[40]
V.G.KIN[91].AXIS[4].POINT[2] = V.G.KIN[91].PARAM[41]
V.G.KIN[91].AXIS[5].TYPE = V.G.KIN[91].PARAM[42]
V.G.KIN[91].AXIS[5].ORIENTATION[0] = V.G.KIN[91].PARAM[43]
V.G.KIN[91].AXIS[5].ORIENTATION[1] = V.G.KIN[91].PARAM[44]
V.G.KIN[91].AXIS[5].ORIENTATION[2] = V.G.KIN[91].PARAM[45]
V.G.KIN[91].AXIS[5].POINT[0] = V.G.KIN[91].PARAM[46]
V.G.KIN[91].AXIS[5].POINT[1] = V.G.KIN[91].PARAM[47]
V.G.KIN[91].AXIS[5].POINT[2] = V.G.KIN[91].PARAM[48]
V.G.KIN[91].CHAIN[0] = V.G.KIN[91].PARAM[49]
V.G.KIN[91].CHAIN[1] = V.G.KIN[91].PARAM[50]
V.G.KIN[91].CHAIN[2] = V.G.KIN[91].PARAM[51]
V.G.KIN[91].CHAIN[3] = V.G.KIN[91].PARAM[52]
V.G.KIN[91].CHAIN[4] = V.G.KIN[91].PARAM[53]
V.G.KIN[91].CHAIN[5] = V.G.KIN[91].PARAM[54]
V.G.KIN[91].PROGRAMMING_MODE = V.G.KIN[91].PARAM[55]
V.G.KIN[91].RTCP = V.G.KIN[91].PARAM[56]