Available V.G variables

V.G.KIN[j].*

Meaning

Data type

Unit for
input/output

R/W*

BASE[k]

Basic offset of a kinematic (P-CHAN-00446)

<k>:= 0 - 5

Real

[0.1 µm,
10-4°]

R/W

GROUP[k].NAME

Name of a group (P-CHAN-00447) max. 16 characters

<k>:= 0, 1

Integer

-

R/W

GROUP[k].WORKPIECE_CS

Group bears the workpiece (P-CHAN-00448)

max. 16 characters

<k>:= 0, 1

Integer

-

R/W

GROUP[k].CHAIN[l]

Definition of the kinematic chain in the group (P-CHAN-00449)

max. 16 characters

<k>:= 0, 1

<l>:= 0, 1, 2

Integer

-

R/W

GROUP[k].MOVE_PRIO[l]

Definition of the sequence for distributing the TCP movement to partial kinematics( (P-CHAN-00450)

max. 16 characters

<k>:= 0, 1

<l>:= 0, 1, 2

Integer

-

R/W

LOCK_DOF[k]

Locked Cartesian degrees of freedom which cannot be moved by the solution algorithm. (P-CHAN-00458)

<k>:= 0 -15

Example: Lock the axis with index 4

V.G.KIN[210].LOCK_DOF[4] = 1

Boolean

-

R/W