Example 2
The second example shows how tool parameters are changed if they are to be considered in the parameters for the kinematic transformation ID=45, as is the case here.
If tool parameters are preassigned in the axis group parameter list, the identifiers for the tool offsets (P-CHAN-00264) are the following:
trafo[0].id | 45 | Definition of kinematic ID 45 (P-CHAN-00262) |
trafo[0].param[0] | 5000000 | Tool centre point offset in Z direction of a coordinate system in the tool flange (ZF) |
trafo[0].param[1] | -500000 | Tool centre point offset in X direction of a coordinate system in the tool flange (XF) |
trafo[0].param[2] | 0 | Tool centre point offset in Y direction of a coordinate system in the tool flange (YF) |
trafo[0].param[3] | 0 | Tool orientation offset on rotation about the X'' axis (3rd rotation) |
trafo[0].param[4] | -600000 | Tool orientation offset on rotation about the Y’ axis (2nd rotation) |
trafo[0].param[5] | 0 | Tool orientation offset on rotation about the Z axis (1st rotation) |
If the same parameters are to be assigned by an instance of an MCV_SetKinParam FB, the inputs of this instance should be assigned as follows:
