Kinematic parameters (P-CHAN-00263)
P-CHAN-00263 | Define kinematic parameters for multi-step transformations |
Description | The specific kinematic offsets are entered in this structure for each transformation. You can specify offsets for single-level, multilevel transformations and PCS transformations. |
Parameter | trafo[j].param[k] or where k = 0 to 73 (maximum number of kinematic parameters) kin_step[i].trafo[j].param[k] (multi-step transformations) trafo_pcs[i].param[k] (PCS transformation *) |
Data type | REAL64 |
Data range | ---- |
Dimension | 0.1 µm or 0.0001 inch |
Default value | 0 |
Remarks | Kinematic parameters can also be entered in the tool data list P-TOOL-00009 (they are then relevant only when a tool is selected, independent of the kinematics). If a kinematic parameter is assigned in both lists, the specified values are added in the NC. This is only valid for transformation step 1. No additional kinematic parameters can be entered in the tool data for transformation step 2. For further details on the parameterisation of a kinematic transformation, see [KITRA] and [PROG]. (Parameter syntax as of V300) *The PCS transformation function is available as of V3.1.3110. |
Configuration examples:
Example 1: Exclusively single step transformations
Configuration of kinematics 33 and 87. Kinematics with ID 87 are to be the default kinematics.
kinematik_id 87
#
trafo[0].id 33
trafo[0].param[0] 1457000
trafo[0].param[1] 0
trafo[0].param[2] 225000
#
trafo[1].id 87
trafo[1].param[0] 1558000
trafo[1].param[1] 140000
trafo[1].param[2] 2000
Alternatively:
default_id_of_kin_step[0] 87
#
kin_step[0].trafo[0].id 33
kin_step[0].trafo[0].param[0] 1457000
kin_step[0].trafo[0].param[1] 0
kin_step[0].trafo[0].param[2] 225000
#
kin_step[0].trafo[1].id 87
kin_step[0].trafo[1].param[0] 1558000
kin_step[0].trafo[1].param[1] 140000
kin_step[0].trafo[1].param[2] 2000
Example 2: Multi-step transformations
Kinematics 33 and 87 are created in the first step and kinematics 5 and 9 in the second step. After start-up the default kinematics are to be kinematics 87 in the first step and kinematics 5 in the second step.
default_id_of_kin_step[0] 87
default_id_of_kin_step[1] 5
#
#First step
kin_step[0].trafo[0].id 33
kin_step[0].trafo[0].param[0] 1457000
kin_step[0].trafo[0].param[1] 0
kin_step[0].trafo[0].param[2] 225000
#
kin_step[0].trafo[1].id 87
kin_step[0].trafo[1].param[0] 1558000
kin_step[0].trafo[1].param[1] 140000
kin_step[0].trafo[1].param[2] 2000
#
#Second step
kin_step[1].trafo[0].id 5
kin_step[1].trafo[0].param[0] 150000
kin_step[1].trafo[0].param[1] 0
kin_step[1].trafo[0].param[2]
#
kin_step[1].trafo[1].id 9
kin_step[1].trafo[1].param[0] 1567000
kin_step[1].trafo[1].param[1] 130000
kin_step[1].trafo[1].param[2] 4000