Kinematic data (kin_step[i].trafo[j].* / trafo[j].* / trafo_pcs[j].)
Notice | |
As of Version V3.00.3012.00, the structures kin_step[i].trafo[j].* or trafo[j].* replace the definition of kinematic data programmed with kinematik[i].*. The previous structure kinematik[i].* is no longer supported. |
The new structures can be used to configure single-step (default) transformations (Single-step transformations) in the same way as previous kinematics.
In addition, the new structures permit the configuration of kinematics consisting of several transformation steps (multi-step transformations). This requires parameterisation in separate data records kin_step[i].*.
 | Currently, a multi-step transformation may consist of maximum 2 steps. |
The transformations of the first transformation step are defined in the structure kin_step[0].
The transformations of the second transformation step are defined in the structures of kin_step[1].
Structure name | index |
kin_step[i] | i = 0 (Step 1), 1 (Step 2) |
A maximum of 10 different transformations can be configured in each transformation step in the structure (trafo[j].*). Besides kinematic parameters, the associated kinematic ID is entered into the data record as an additional parameter (see descriptions of P-CHAN-00262 and P-CHAN-00263).
Structure name | index |
trafo[j] | j = 0 ... 9 |
Example:
| The definition of a single-step transformation can be created directly in trafo[j].* without specifying the element kin_step[0]. For example, the syntax of kin_step[0].trafo[0].* and trafo[0].* are completely equivalent. The definition of multi-step transformations requires the specification of kin_step[i].*. The sequence of the configuration steps takes place in the direction of forward transformation. |
PCS transformations are available as of CNC Build V3.1.3110.
Structure name | index |
trafo_pcs[j] | j = 0 ... 9 |