Configuring the partial kinematics

The basic configuration of the partial kinematics is carried out as before by means of kinematic parameters.

Attention

For each partial kinematic, a unique ID must be given to the kinematic (P-CHAN-00262) in order to configure it since the coupling kinematic identifies its partial kinematic by this ID. If this is ignored, error ID 21931 is output.

Configuring the basic offsets

The basic offsets of a partial kinematic describe a static Cartesian offset between its MCS and the TCP of the previous kinematic within a kinematic chain (P-CHAN-00446).

The basic offset of the lowest partial kinematic of a kinematic chain (chain[0]) describes the offset between the MCS of this kinematic and the MCS of the coupling kinematic.

For example, due to the height of the slide on which the robot is attached, this offset may be in the Z direction.

Properties

• Reference system: MCS partial kinematic.
• Six coordinates can be specified: X, Y, Z, A, B and C offsets.
• The rotation sequence of the angles corresponds to the rotation sequences of each kinematic.

trafo[0].id         1
trafo[0].type       45
trafo[0].base[0]   -100000
trafo[0].base[1]    0
trafo[0].base[2]   -350000
...