Sequence of axes in the kinematic chain

Attention

When a kinematic chain is created, there are restrictions resulting from kernel architecture, memory space limitations and algorithmic limits.

Number of axes

The following restrictions apply to the number of axes:

• The kinematics must have precisely 3 linear axes.
• The kinematics may have a maximum of 3 rotary axes.
• For complete transformations, the kinematics may have maximum 2 rotary axes.

This permits the simulation of 3-, 4-, 5- and 6-axis machines.

Axis indexing

The following restrictions apply to axis definition:

• The 3 linear axes must be defined at indices 0, 1 and 2.
• In RTCP mode, the rotary axes must be defined at the same indices where their counterparts are defined in the axis groups of the channel configuration. See P-CHAN-00006 and the #SET AX command. If there is an entry in the channel configuration, the C axis must be defined at index 3 in the axis definition of the kinematic chain. See code example:

                     gruppe[0].achse[3].bezeichnung    C