Kinematic structure
Machine type: 3-axis machine (3 axes + spindle)
Axis identifiers as per the machine labelling
Axes in the tool: Z1, Z2, Z3,(Spindle B)
Axes in the workpiece -
Axis configuration in the sda_mds.lis: X, Y, Z

Kinematic ID | Axis sequence | |
12 | X, Y, Z (Z1, Z2, Z3) | |
Parameter | ||
Offset | list | Meaning |
HD1 | trafo[1].param[0] | Tool offset Z |
HD2 | trafo[1].param[1] | Tool offset X |
HD3 | trafo[1].param[2] | Tool offset Y |
HD4 | trafo[1].param[3] | Z offset machine axis zero origin. |
HD5 | trafo[1].param[4] | Radius to connecting line of the joint centre points on the drive columns (large circle) |
HD6 | trafo[1].param[5] | Radius to connecting line of the joint centre points on the holder platform (small circle) |
HD7 | trafo[1].param[6] | Strut length to each joint centre point |
HD8 | trafo[1].param[7] | Switch for switching to non-ideal tripod (enable HD9 / HD 10) |
HD9 | trafo[1].param[8] | Angle column / joint 3 to column / joint 1 |
HD10 | trafo[1].param[9] | Angle column / joint 3 to column / joint 2 |
Axis configuration and kinematic offsets
Excerpt from the channel parameter list:
![]() | It is essential to specify the value of P-CHAN-00262. If this parameter is not set, when the transformation is selected with |