Kinematic data (kin_step[i].trafo[j].* / trafo[j].*)
Attention
As of Version V3.00.3012.00, the structures kin_step[i].trafo[j].* or trafo[j].* replace the definition of kinematic data programmed with kinematik[i].*.
The previous structure kinematik[i].* is no longer supported.
The new structures can continue to be used to configure kinematics for single-step (default) transformations (Single-Step Transformations) as previous kinematics.
In addition, the new structures permit the configuration of kinematics which consist of several transformation steps (Multi-Step Transformations). This requires parameterisation in separate data records kin_step[i].*.
Notice
Currently, a multi-step transformation may consist of maximum 2 steps.
The transformations of the first transformation step are defined in the structure kin_step[0].
The transformations of the second transformation step are defined in the structures of kin_step[1].
Structure name | Index |
kin_step[i] | i = 0 (Step 1), 1 (Step 2) |
A maximum of 10 different transformations can be configured in each transformation step in the structure (trafo[j].*). Besides the kinematic parameters, the related kinematic ID is entered in the data record as an additional parameter (see description of P-CHAN-00262 and P-CHAN-00263) is inactive.
Structure name | Index |
trafo[j] | j = 0 ... 9 |
Example:
kin_step[0].trafo[j].* ;kinematics for transformation step 1
kin_step[1].trafo[j].* ;kinematics for transformation step 2
Notice
The definition of a single-step transformation can be created directly in trafo[j].* without specifying the element kin_step[0]. For example, the notation of kin_step[0].trafo[0].* and trafo[0].* is completely equivalent.
The definition of multi-step transformations requires the specification of kin_step[i].*. The sequence of the configuration steps takes place in the direction of forward transformation.