Programming

NC command for updating all kinematic parameters in the TCP kinematic according to P-CHAN-00469:

Syntax:

#LIMIT REFRESH [ KIN ]

modal

Global variables (V.G.) to access the tool parameters of the TCP kinematic in the NC program:

LIMIT.KIN[i].TOOL.
LENGTH

Tool length where

<i>:= 0, 1 index of the configured kinematic

Real

[mm]

R/W

LIMIT.KIN[i].TOOL.
KIN_PARAM[j]

Kinematic parameter of the tool where

<j>:= 0..69 Index of the kinematic parameter

Real

[0.1 µm,
10-4°]

R/W