Mode of kinematic transformation (P-CHAN-00456)

P-CHAN-00456

Properties of kinematic transformation

Description

This parameter can influence the behaviour or options of the kinematic transformation in the channel.

Possible settings:

  • NONE: Default behaviour
  • FAST_TARGET_POS_CALC: Deactivate multiple calls of the kinematic robot transformation to calculate target coordinates in the display.
  • BEVEL_ANGLE_TOOL_LENGTH_CORR: Angle-dependent tool length compensation is activated for kinematic transformations which support this function.
  • BEVEL_ANGLE_LATERAL_OFFSET: Angle-dependent tool length compensation and offset correction is activated for kinematic transformations which support this function.
  • TOOL_TIP_RADIUS_COMP_IN_PLANE: The CRC in the plane is activated for kinematic transformations which support this function (as of V3.1.3081.2)

 

Example:

With complete transformations, e.g. an articulated robot, the ACS target point calculation for the display data is based on pre-interpolated interpolation points starting with PCS start through to PCS target In general, this is necessary due to the ambiguity of the backward transformation of the robot. Cyclical multiple calls lead to a higher realtime load in the cyclic CNC task. If this higher load is not required, it can be deactivated by setting the parameter named above to

FAST_TARGET_POS_CALC

. Due to the ambiguity of the kinematic backward transformation, the pre-calculated ACS target point may possibly deviate from the real interpolated ACS target point in the display data.

Parameter

trafo_mode

Data type

String

Data range

NONE

FAST_TARGET_POS_CALC

BEVEL_ANGLE_TOOL_LENGTH_CORR

BEVEL_ANGLE_LATERAL_OFFSET

TOOL_TIP_RADIUS_COMP_IN_PLANE

Dimension

----

Default value

NONE

Remarks

Parameter available as of V3.1.3080.