Kinematic chain of a group (P-CHAN-00449)
P-CHAN-00449 | Definition of a kinematic chain for a group of a coupling kinematic |
Description | Description of the sequence in which the partial kinematics within a coupling kinematic are stacked on top of each other.. Index m = 0 points to the lowest kinematic. |
Parameter | trafo[j].group[k].chain[m] kin_step[i].trafo[j].group[k].chain[l] (multi-step transformations) |
Data type | UNS16 |
Data range | 0 … MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Each kinematic used here must be configured as an autonomous kinematic with a corresponding ID. Configuration example: Robot on a linear axis trafo[0].id 1 trafo[0].type 210 trafo[0].group[0].id 100 trafo[0].group[0].chain[0] 3 trafo[0].group[0].chain[1] 2 trafo[1].id 2 trafo[1].type 45 trafo[2].id 3 trafo[2].type 91
As of Build V3.1.3080.09 |