Direct programming of partial kinematics

Partial kinematics can only be programmed by linear blocks. However, the TCP must be programmed for extended movements such as circles.

Programing Example

prg_example

Direct programming of robots and linear axes

N010 #KIN ID [3]
N020 #TRAFO ON
N030 G00 G90 X_ROB=1000 X_LIN=500
N040 G00 G90 Y_ROB=300 Y_LIN=0
N050 #TRAFO OFF

At program end, the coordinates are:

 

X

Y

Linear unit

500

0

Robot

1000

300

TCP

1500

300