Notes on parameterisation

The Universal Kinematic can be parameterised by

• list parameter: kinematik[91].param[i] and trafo[j].param[i]
• V.G. variables: V.G.KIN[91].PARAM[i] / V.KIN[91].ZERO…
• Tool offsets, tool database

.

Attention

All the various parameterisation options use the same memory location. This must be observed for read and write access.

Below is an example of a comparison of the two parameterisation options via V.G. variables.

V.G.KIN[91].ZERO_ORIENTATION[0]       =    V.G.KIN[91].PARAM[0]

V.G.KIN[91].ZERO_ORIENTATION[1]       =    V.G.KIN[91].PARAM[1]

V.G.KIN[91].ZERO_ORIENTATION[2]       =    V.G.KIN[91].PARAM[2]

V.G.KIN[91].ZERO_POSITION[0]          =    V.G.KIN[91].PARAM[3]

V.G.KIN[91].ZERO_POSITION[1]          =    V.G.KIN[91].PARAM[4]

V.G.KIN[91].ZERO_POSITION[2]          =    V.G.KIN[91].PARAM[5]

V.G.KIN[91].NUMBER_OF_AXES            =    V.G.KIN[91].PARAM[6]

V.G.KIN[91].AXIS[0].TYPE              =    V.G.KIN[91].PARAM[7]

V.G.KIN[91].AXIS[0].ORIENTATION[0]    =    V.G.KIN[91].PARAM[8]

V.G.KIN[91].AXIS[0].ORIENTATION[1]    =    V.G.KIN[91].PARAM[9]

V.G.KIN[91].AXIS[0].ORIENTATION[2]    =    V.G.KIN[91].PARAM[10]

V.G.KIN[91].AXIS[0].POINT[0]          =    V.G.KIN[91].PARAM[11]

V.G.KIN[91].AXIS[0].POINT[1]          =    V.G.KIN[91].PARAM[12]

V.G.KIN[91].AXIS[0].POINT[2]          =    V.G.KIN[91].PARAM[13]

V.G.KIN[91].AXIS[1].TYPE              =    V.G.KIN[91].PARAM[14]

V.G.KIN[91].AXIS[1].ORIENTATION[0]    =    V.G.KIN[91].PARAM[15]

V.G.KIN[91].AXIS[1].ORIENTATION[1]    =    V.G.KIN[91].PARAM[16]

V.G.KIN[91].AXIS[1].ORIENTATION[2]    =    V.G.KIN[91].PARAM[17]

V.G.KIN[91].AXIS[1].POINT[0]          =    V.G.KIN[91].PARAM[18]

V.G.KIN[91].AXIS[1].POINT[1]          =    V.G.KIN[91].PARAM[19]

V.G.KIN[91].AXIS[1].POINT[2]          =    V.G.KIN[91].PARAM[20]

V.G.KIN[91].AXIS[2].TYPE              =    V.G.KIN[91].PARAM[21]

V.G.KIN[91].AXIS[2].ORIENTATION[0]    =    V.G.KIN[91].PARAM[22]

V.G.KIN[91].AXIS[2].ORIENTATION[1]    =    V.G.KIN[91].PARAM[23]

V.G.KIN[91].AXIS[2].ORIENTATION[2]    =    V.G.KIN[91].PARAM[24]

V.G.KIN[91].AXIS[2].POINT[0]          =    V.G.KIN[91].PARAM[25]

V.G.KIN[91].AXIS[2].POINT[1]          =    V.G.KIN[91].PARAM[26]

V.G.KIN[91].AXIS[2].POINT[2]          =    V.G.KIN[91].PARAM[27]

V.G.KIN[91].AXIS[3].TYPE              =    V.G.KIN[91].PARAM[28]

V.G.KIN[91].AXIS[3].ORIENTATION[0]    =    V.G.KIN[91].PARAM[29]

V.G.KIN[91].AXIS[3].ORIENTATION[1]    =    V.G.KIN[91].PARAM[30]

V.G.KIN[91].AXIS[3].ORIENTATION[2]    =    V.G.KIN[91].PARAM[31]

V.G.KIN[91].AXIS[3].POINT[0]          =    V.G.KIN[91].PARAM[32]

V.G.KIN[91].AXIS[3].POINT[1]          =    V.G.KIN[91].PARAM[33]

V.G.KIN[91].AXIS[3].POINT[2]          =    V.G.KIN[91].PARAM[34]

V.G.KIN[91].AXIS[4].TYPE              =    V.G.KIN[91].PARAM[35]

V.G.KIN[91].AXIS[4].ORIENTATION[0]    =    V.G.KIN[91].PARAM[36]

V.G.KIN[91].AXIS[4].ORIENTATION[1]    =    V.G.KIN[91].PARAM[37]

V.G.KIN[91].AXIS[4].ORIENTATION[2]    =    V.G.KIN[91].PARAM[38]

V.G.KIN[91].AXIS[4].POINT[0]          =    V.G.KIN[91].PARAM[39]

V.G.KIN[91].AXIS[4].POINT[1]          =    V.G.KIN[91].PARAM[40]

V.G.KIN[91].AXIS[4].POINT[2]          =    V.G.KIN[91].PARAM[41]

V.G.KIN[91].AXIS[5].TYPE              =    V.G.KIN[91].PARAM[42]

V.G.KIN[91].AXIS[5].ORIENTATION[0]    =    V.G.KIN[91].PARAM[43]

V.G.KIN[91].AXIS[5].ORIENTATION[1]    =    V.G.KIN[91].PARAM[44]

V.G.KIN[91].AXIS[5].ORIENTATION[2]    =    V.G.KIN[91].PARAM[45]

V.G.KIN[91].AXIS[5].POINT[0]          =    V.G.KIN[91].PARAM[46]

V.G.KIN[91].AXIS[5].POINT[1]          =    V.G.KIN[91].PARAM[47]

V.G.KIN[91].AXIS[5].POINT[2]          =    V.G.KIN[91].PARAM[48]

V.G.KIN[91].CHAIN[0]                  =    V.G.KIN[91].PARAM[49]

V.G.KIN[91].CHAIN[1]                  =    V.G.KIN[91].PARAM[50]

V.G.KIN[91].CHAIN[2]                  =    V.G.KIN[91].PARAM[51]

V.G.KIN[91].CHAIN[3]                  =    V.G.KIN[91].PARAM[52]

V.G.KIN[91].CHAIN[4]                  =    V.G.KIN[91].PARAM[53]

V.G.KIN[91].CHAIN[5]                  =    V.G.KIN[91].PARAM[54]

V.G.KIN[91].PROGRAMMING_MODE          =    V.G.KIN[91].PARAM[55]

V.G.KIN[91].RTCP                      =    V.G.KIN[91].PARAM[56]