Configuring groups

Every group represents an independent kinematic chain. Therefore, as many groups must be configured in a coupling kinematic as there are kinematic chains. The parameters required to configure a group are as follows:

Channel parameters

Description

P-CHAN-00447

ID of the group (optional)

P-CHAN-00448

The workpiece of the group is held by the group specified here

P-CHAN-00449

Kinematic chain of the group

P-CHAN-00450

Sequence for the solution algorithm

It is optional to configure a group ID (P-CHAN-00447).

It is also optional to specify a group which holds the workpiece (P-CHAN-00448). It need only be configured if a cooperation between the groups is required, see “Configuration of a workpiece CS”.

Attention

attention

If P-CHAN-00448 is configured and the ID specified fails to match any ID in another group, error 292066 is output.