Setting the programming mode

Explanation

The programming mode specifies how tool orientation is determined from the programmed values.

• In the point-vector mode, the user programs tool position and orientation directly.
• In all other modes (angle programming modes), the user programs angles that are then passed on directly as axis angles (RTCP = Rotation Tool Centre Point) or are used to calculate tool orientation.

Programming mode

The programming mode is set via the channel parameter P-CHAN-00112 or via the kinematic itself (P-CHAN-00288). A setting on the kinematic has priority over P-CHAN-00112.

The classic programming mode for CA angles is used.

# Set CA programming mode via P-CHAN-00112

ori_rotation_angle                      17

# Set CA programming mode at kinematic via P-CHAN-00288

kinematik[91].programming_mode          17