Overview of functionality

Use of 3D distance control requires activation by using P-CHAN-00500.

configuration.decoder.function FCT_3D_DIST_CTRL

In addition, the kinematic transformation ID98 is required to maintain the TCP constant when the tool is rotated, to monitor the minimum distance and to control the tool direction.
[KITRA// KIN_TYP_98- Transformation to monitor the minimum distance]