Tool Linear
The Tool Linear describes a 1D tool, which is mounted at the flange of the kinematics. An additional simulation axis can be used for movement in tool direction. The 1D tool can be used to move the TCP at a certain distance from a workpiece.
Unless specified otherwise in the kinematics, the flange coordinate system is defined such that the orientation of the flange coordinate system matches that of the machine coordinate system, if all axes are at 0.
If the axis position of the additional simulation axes is 0, the TCP is at the position of the tool offset (parameter L_init).
Parameter | Description | Type | Unit |
|---|---|---|---|
Length offset | Tool length |
| mm |
Length axis ID | Axis ID of the simulation axis; when this axis is moved, the TCP moves in the direction of the linear tool. |
|
|
To create a tool see Tool Offset.