Definition of a group containing the tool of a coupling kinematic

P-CHAN-00448

Definition of a workpiece CS for a group of a couple kinematic.

Description

If a tool CS is specified (group name of another group of the couple 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 (multistep transformations)

Data type

STRING

Data range

Maximum of 16 characters

Dimension

----

Default value

*

Remarks

Configuration example:

trafo[0].id              210
trafo[0].group[0].name   CA_TABLE
trafo[0].group[1].name   ROBOT
trafo[0].group[1].workpiece_cs  CA_TABLE

After the kinematic is selected, the group ROBOT follows the movements of CA_TABLE since it is configured as the tool coordinate system of ROBOT.

* Note: The default value of variables is a blank string.