Compliance and direct programming

Compliance

Compliance programming extends the idea of the classic programming modes. The kinematic chain used is a copy of the defined kinematic chain of the machine where the axis offsets are removed.

For example, this permits the programming of a machine with an unusual axis position. The machine with transformation ID11 has a B axis tilted by 45°. If the kinematic chain for this machine is defined accordingly and if the compliance programming mode is selected, the programmed B angles are actually interpreted as angles in this tilted kinematics.

Notice

With compliance programming, the linear axes XYZ must lie on the the first three indices of the kinematik[].axis[] array.

Direct

With direct programming, the kinematic chain of the machine is used to calculate orientation without removing axis offsets.

For more information, see P-CHAN-00112.