Application examples

P-CHAN-00469 = 0

• KIN_TYP_45

Without a velocity limit, there is no possibility to limit the TCP velocity when the transformation is inactive, for example.

If the velocity limit is active, the TCP will not move too rapidly when the limit is activated. This even applies to axis-specific programming.

P-CHAN-00469 = 1

• KIN_TYP_45, Monitor the elbow (with Universal Kinematics)

When an elbow movement is monitored, it is not recommended to use tool offsets or change them when a tool is changed.

• KIN_TYP_45, Moved workpiece

When the workpiece is moved, the tool is placed at a fixed position in space. The tool offset can be parameterised using #CS coordinate systems. The offset of the workpiece at the flange is of interest to the TCP velocity limit in order to move the workpiece in certain limits (e.g. with a long rod).

When the workpiece is manoeuvred, the offset to the workpiece tip can be parameterised at TCP or with a tool offset using V.G.LIMIT.KIN[i].TOOL.KIN_PARAM[j] without changed in the parameters of kinematic 45.