Basic offsets for stacked kinematics (P-CHAN-00446)
P-CHAN-00446 | Definition of the Cartesian basic offsets for stacked kinematics. |
Description | The basic offsets are active for stacked kinematics and they describe the Cartesian offsets between the MCS of a kinematic and the TCP of the kinematic stacked below it. A robot is situated on a slide on a linear axis. Due to the presence of the slide there is a 10 cm offset in z direction between the linear axis and the base of the robot. Enter this offset for the robot here: trafo[0].id 45 |
Parameter | trafo[j].base[k] where k=0 … 5 kin_step[i].trafo[j].base[k] (multistep transformations) |
Data type | REAL64 |
Data range | MIN(REAL64) … MAX(REAL64) |
Dimension | 0.1µm for linear offsets, 0.0001° for angles |
Default value | 0.0 |
Remarks | The basic offsets are only considered when the coupling kinematic is active. |