General Parameters for the Kinematics

MCS Offset

The MCS offset can be used to parameterize additional offset parameters before the first axis (or before the basis) of the kinematics. For example, in the SCARA kinematics the origin of the MCS is located in the first joint (M1). The parameter Z-shift of the MCS offset can be used to parameterize the additional bar length so that the origin of the MCS resides at the robot base.

General Parameters for the Kinematics 1:

Parameter	Description	Type	Unit
X-shift	Static X-offset in the MCS.	`LREAL`	mm
Y-shift	Static Y-offset in the MCS.	`LREAL`	mm
Z-shift	Static Z-offset in the MCS.	`LREAL`	mm

MCS to Spatial reference

The parameter MCS to Spatial reference can be used to move the MCS in a reference coordinate system. All coordinate systems are right-handed (counterclockwise).

Parameter	Description	Type	Unit
Translation X	Shift in X-direction.	`LREAL`	mm
Translation Y	Shift in Y-direction.	`LREAL`	mm
Translation Z	Shift in Z-direction.	`LREAL`	mm
Rotation 1	First rotation angle. The interpretation is defined by the parameter Rotation convention.	`LREAL`	°
Rotation 2	Second rotation angle. The interpretation is defined by the parameter Rotation convention.	`LREAL`	°
Rotation 3	Third rotation angle. The interpretation is defined by the parameter Rotation convention.	`LREAL`	°
Rotation convention	The rotation convention indicates the order of the axis rotations (parameter Rotation 1-3). Doing so, the letters (X, Y, Z) from left to right indicate the order of rotation around the corresponding axes. The succeeding number indicates the parameter (Rotation 1-3) for the value parameterization. The translational shift is always performed before the rotation.	`MC.CoordInterpretation_SO3`
Spatial reference	The parameter Spatial reference indicates which coordinate system is used as a basis for the MCS. If the value has been set to 0 here, the WCS is used as a basis. To use another coordinate system as starting point for the shift, a Coordinate system (Coordinate Frame) object can be created. The object ID of this coordinate system can be selected via the drop-down menu.	`OTCID`
Definition direction	Indicates the direction in which the shift is programmed (from the perspective of the reference system or from the perspective of the MCS). The translation is always performed first, followed by the rotation. See example below.	`MC.ReferenceDefDir`

Example: Definition Direction

If the definition direction MCS -> Reference is used, the shift displayed below between the original coordinate system (MCS) towards the target coordinate system (reference) is specified with negative vectors.

General Parameters for the Kinematics 2:

If a positive rotation around the Z-axis (here 90°) is specified in addition to the translation, the translation is performed first, followed by the rotation of the target coordinate system (here +90° around the Z-axis).

General Parameters for the Kinematics 3:

Tool offset OID

Parameter	Description	Type
Tool offset OID	To define a tool for the kinematics a Tool Offset object or a Tool Linear object has to be created at first. The object ID of this tool can be selected via the drop-down menu.	`OTCID`