ID of a group containing the tool of a coupling kinematic (P-CHAN-00448)
P-CHAN-00448 | Definition of a workpiece CS for a group of a couple kinematic. |
Description | If a tool CS is specified (group ID of another group of the coupling kinematic), all TCP coordinates of this group are interpreted in the TCP system of the group specified as the workpiece CS. This group therefore follows the movements of the workpiece CS group. |
Parameter | trafo[j].group[k].workpiece_cs kin_step[i].trafo[j].group[k].workpiece_cs (multi-step transformations) |
Data type | UNS16 |
Data range | 0 … MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Configuration example: trafo[0].id 210 After the kinematic (ID 210) is selected, group 200 follows the movements of group 100 since it is configured as the tool coordinate system of 200. As of Build V3.1.3080.09 |