Plane of parallel tool axis (P-CHAN-00436)

P-CHAN-00436

Plane parallel to tool axis plane

Description

This parameter is only used for point-vector programming in combination with 6-axis kinematics (robots).

This parameter defines an identifier for the basic plane (YZ, ZX) that contains either the Z or the Y tool axis. The third angle is then determined by an internal controller calculation so that the selected tool axis at the target point is oriented parallel to the defined basic plane.

Parameter

ori.tool_ax_in_plane

Data type

UNS32

Data range

0: Not assigned

1: Tool axis Z lies parallel to the ZX plane of the active basic CS or MCS.

2: Tool axis Y lies parallel to the YZ plane of the active basic CS or MCS.

Dimension

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Default value

0

Remarks

This parameter may only be used exclusively with P-CHAN-00178 .