Sequence of axes in the kinematic chain

Most characteristics in the kinematic chain are easy to determine. The only challenge may consist in determining the correct axis sequence defined in the kinematic chain field kinematik[91].chain.

Notice

With Universal Kinematics the axis sequence is different from the axis sequence of the replaced kinematics.

Universal transformation always goes from workpiece to tool.

This must be considered when configuring the sequence of the participating axes.

General rules

Procedure for finding the axis sequence in the kinematic chain

• Imagine walking from the workpiece to the machine origin and from there on to the tool tip.
• Notice the sequence of axes in the order of their occurrence. Enter the applicable axis indices in this order in the kinematik[91].chain field.
• The orientation vector must be inverted for all axes that are located on the workpiece side (i.e. occur before you reach the machine origin).