Aligning the axis systems

Aligning the axis systems 1:
Coordinate systems and motion directions
Aligning the axis systems 2:
Kinematic offsets

Kinematic ID

Axis sequence

1

X, Y, Z, B, C

 

Offset parameters

List parameters

Meaning

HD1

kinematik[1].param[0]

z axis offset zero point until rotation point B axis

Axis configuration and kinematic offsets

Excerpt from the channel parameter list:

# Define axis configuration
# =================================
gruppe[0].achse[0].log_achs_nr 1
gruppe[0].achse[0].bezeichnung X
#
gruppe[0].achse[1].log_achs_nr 2
gruppe[0].achse[1].bezeichnung Y
#
gruppe[0].achse[2].log_achs_nr 3
gruppe[0].achse[2].bezeichnung Z
#
gruppe[0].achse[3].log_achs_nr 4
gruppe[0].achse[3].bezeichnung B
#
gruppe[0].achse[4].log_achs_nr 5
gruppe[0].achse[4].bezeichnung C
#
# Define kinematic parameters
# =================================
kinematik_id       1    ( Define the default ID
# Offsets in 0.1 μm
trafo[0].id        1    ( Type 1 for 5-axis kinematic P-CHAN-00262
trafo[0].param[0]  1450000 (Tool clamping point offset up to rotation point B axis
trafo[0].param[1]  0
trafo[0].param[2]  0
trafo[0].param[3]  0
trafo[0].param[4]  0
trafo[0].param[5]  0
trafo[0].param[6]  0

It is essential to specify the value of P-CHAN-00262.

If this parameter is not set, when the transformation is selected with
#TRAFO ON, error ID 21630 is output.