Channel parameters
P-CHAN-00464 | Activate additional functionality for kinematics |
Description | Activates additional functionalities of the specified kinematic. For example, with load model or TCP velocity monitoring. When this parameter is set, the specified kinematic is used to calculate the TCP during TCP velocity monitoring. When the limit is switched on via tcp_velocity_limit control unit , the limit is applied. |
Parameter | limit.kin[i].active |
Data type | BOOLEAN |
Data range | 0: No calculation 1: The corresponding velocity of the limit is calculated. |
Dimension | ---- |
Default value | 0 |
Remarks | Parameter available as of V3.1.3079.26 |
P-CHAN-00763 | Load mass |
Description | Load of the mass at the robot flange. |
Parameter | limit.kin[i].dynamic_model.load[j].mass |
Data type | REAL64 |
Data range | 0.0 … MAX(REAL64) |
Dimension | kg |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. When the load model is active, the parameter must be greater than zero. Configuration example: limit.kin[0].dynamic_model.load[0].mass 10 |
P-CHAN-00764 | X offset of the load centre of gravity to the flange |
Description | This parameter defines the X offset from the flange to the centre of gravity of the load in the flange coordinate system. |
Parameter | limit.kin[i].dynamic_model.load[j].x |
Data type | REAL64 |
Data range | MIN(REAL64) … MAX(REAL64) |
Dimension | 0.1µm |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].x 2500000 |
P-CHAN-00765 | Y offset of load centre of gravity to the flange |
Description | This parameter defines the Y offset from the flange to the centre of gravity of the load in the flange coordinate system |
Parameter | limit.kin[i].dynamic_model.load[j].y |
Data type | REAL64 |
Data range | MIN(REAL64) … MAX(REAL64) |
Dimension | 0.1µm |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].y 2000000 |
P-CHAN-00766 | Z offset of load centre of gravity to the flange |
Description | This parameter defines the Z offset from the flange to the centre of gravity of the load in the flange coordinate system |
Parameter | limit.kin[i].dynamic_model.load[j].z |
Data type | REAL64 |
Data range | MIN(REAL64) … MAX(REAL64) |
Dimension | 0.1µm |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].z 1000000 |
P-CHAN-00767 | Rotation offset of the X axis |
Description | Rotation offset of the X axis of the load coordinate system in relation to the flange coordinate system. |
Parameter | limit.kin[i].dynamic_model.load[j].rx |
Data type | REAL64 |
Data range | -3600000° … 3600000° |
Dimension | 0.0001 ° |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].rx 900000 |
P-CHAN-00768 | Rotation offset of the Y axis |
Description | Rotation offset of the Y axis of the load coordinate system in relation to the flange coordinate system. |
Parameter | limit.kin[i].dynamic_model.load[j].ry |
Data type | REAL64 |
Data range | -3600000° … 3600000° |
Dimension | 0.0001 ° |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].ry 900000 |
P-CHAN-00769 | Rotation offset of the Z axis |
Description | Rotation offset of the Z axis of the load coordinate system in relation to the flange coordinate system. |
Parameter | limit.kin[i].dynamic_model.load[j].rz |
Data type | REAL64 |
Data range | -3600000° … 3600000° |
Dimension | 0.0001 ° |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].rz 900000 |
P-CHAN-00770 | Main moment of inertia of the X axis |
Description | This parameter defines the main moment of inertia of the X axis of the load coordinate system at the load centre of gravity |
Parameter | limit.kin[i].dynamic_model.load[j].ix |
Data type | REAL64 |
Data range | 0.0 … MAX(REAL64) |
Dimension | 1 kg m^2 |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].ix 0.00124 |
P-CHAN-00771 | Main moment of inertia of the Y axis |
Description | This parameter defines the main moment of inertia of the Y axis of the load coordinate system at the load centre of gravity |
Parameter | limit.kin[i].dynamic_model.load[j].iy |
Data type | REAL64 |
Data range | 0.0 … MAX(REAL64) |
Dimension | 1 kg m^2 |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].iy 0.00124 |
P-CHAN-00772 | Main moment of inertia of the Z axis |
Description | This parameter defines the main moment of inertia of the Z axis of the load coordinate system at the load centre of gravity. |
Parameter | limit.kin[i].dynamic_model.load[j].iz |
Data type | REAL64 |
Data range | 0.0 … MAX(REAL64) |
Dimension | 1 kg m^2 |
Default value | 0.0 |
Remarks | Available as of V3.1.3108.5. Configuration example: limit.kin[0].dynamic_model.load[0].iz 0.00124 |
P-CHAN-00830 | Kinematic ID of velocity monitoring |
Description | This parameter defines the ID of the kinematic used to calculate velocity. The kinematic must be defined by the same ID in kin_step[0]. |
Parameter | limit.kin[i].id |
Data type | UNS16 |
Data range | 0...MAX(UNS16) |
Dimension | --- |
Default value | 0 |
Remarks | If the parameter is activated (value unequal to 0), a kinematic type must be specified; otherwise the error message ID 22108 is output. Available as of V3.1.3080.09 |