Index of the fixed rotation axis(P-CHAN-00178)
The tool's direction vector is defined via the three vector components (e.g. "VECTOR_ABC"). These vector components result in two Euler rotation angles.
If the orientation can be defined by way of more than two angles (e.g. robots), the free third Euler angle must be specified via the "fixed_axis_index" parameter when using vector representation.
This index results from considering the sequence of the axes by means of which the position and manual orientation of the machine (e.g. a robot) are defined.
Variable name | Type | Permitted range | Dimension |
fixed_axis_index | UNS32 | 0. MAX(UNS32) | ---- |
Example: Kinematic structure with 3 main axes X, Y, Z and 3 rotary axes A, B, C (e.g. robot):
The convention for rotation is: A around Z -> B around Y -> C around X
Axis name | Index | Axis type |
X Y Z A B C | 0 1 2 3 4 5 | 1. main axis 2. main axis 3. main axis 1. rotary axis 2. rotary axis 3. rotary axis |
According to the rotation convention above, the last axis (C) rotates about the X axis. If this axis is simultaneously a tool axis, a rotation about this axis only produces a change in the position of the manual coordinate system.
For example, if the rotation axis (C) is to be the fixed axis, then the value 5 must be assigned to "fixed_axis_index".