KIN_TYP_45 – 6-axis articulated robot kinematics

Axis configuration in the NC channel

Axis identifier

X, Y, Z, A, B, C (C1, B1, B2, A1, B3, A2)

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

Tool axes

Workpiece axes

NC axes

X, Y, Z, A, B, C

-

HD offset

param[i]

Description

Unit

HD1

0

Tool Z offset in the Flange Coordinate System (variant 1)

1.0 E-4 mm

HD2

1

Tool X offset in the Flange Coordinate System (variant 1)

1.0 E-4 mm

HD3

2

Tool Y offset in the Flange Coordinate System (variant 1)

1.0 E-4 mm

HD4

3

Angle of tool rotation about the X'' axis

1.0 E-4°

HD5

4

Angle of tool rotation about the Y'' axis

1.0 E-4°

HD6

5

Angle of tool rotation about the Z axis

1.0 E-4°

HD7

6

Z offset from origin of Cartesian spatial coordinate system to rotation point of joint axis 2

1.0 E-4 mm

HD8

7

Z offset from rotary axis joint 2 to rotary axis joint 3

1.0 E-4 mm

HD9

8

X offset from rotary axis joint 3 to rotary axis joint 5

1.0 E-4 mm

HD10

9

X offset from manual axis joint 5 to flange surface on joint 6

1.0 E-4 mm

HD11

10

X offset from origin of Cartesian spatial coordinate system to rotation point of joint axis 2

1.0 E-4 mm

HD12

11

Z offset from rotary axis joint 5 to rotary axis joint 3. Please refer to note under the table.

1.0 E-4 mm

HD14

13

Rotary offset for zero position of robot joint axis 2 (see Angle offset)

1.0 E-4°

HD15

14

Rotary offset for zero position of robot joint axis 3 (see Angle offset)

1.0 E-4°

HD21

20

Rotation direction of joint axis 1: 0 (positive), 1 (negative)

[ - ]

HD22

21

Rotation direction of joint axis 2: 0 (positive), 1 (negative)

[ - ]

HD23

22

Rotation direction of joint axis 3: 0 (positive), 1 (negative)

[ - ]

HD24

23

Rotation direction of joint axis 4: 0 (positive), 1 (negative)

[ - ]

HD25

24

Rotation direction of joint axis 5: 0 (positive), 1 (negative)

[ - ]

HD26

25

Rotation direction of joint axis 6: 0 (positive), 1 (negative)

[ - ]

HD31

30

Flange Coordinate System:
0 (variant 1)
1 (variant 2)

[ - ]

HD32

31

Y offset from rotary axis joint 4 to rotary axis joint 1. Please refer to note under the table.

1.0 E-4 mm

HD33

32

Control flag for machining type

0: Default
1: Moved workpiece

Once you set the parameter HD33, the machining mode switches to the mode of the moved workpiece. We therefore advise you to set this parameter first by selecting the fixed tool and positioning the robot in readiness or to set this parameter in the tool management system.

[ - ]

HD34

33

Tool length compensation direction

0: none (default)
1: -Z
2: -X
3: -Y
4: Z
5: X
6: Y

By default, the entered tool length is not included when you select a tool with Kinematic 45 enabled. If this parameter is unequal to 0, the tool length is included in the set direction.

[ - ]

HD35

34

Rotation sequence of tool orientation HD4-6

0: Z Y’ X‘‘ (default)
1: X Y‘ Z‘‘

[ - ]

HD36

35

Rotary offset for zero position of robot joint axis 1

1.0 E-4°

HD37

36

Rotary offset for zero position of robot joint axis 4

1.0 E-4°

HD38

37

Rotary offset for zero position of robot joint axis 5

1.0 E-4°

HD39

38

Rotary offset for zero position of robot joint axis 6

1.0 E-4°