Kinematic structure

Kinematic structure 1:
Tripod kinematics

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 structure 2:
Offset dimensions of strut kinematics

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:

# 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
#
# Define kinematic parameters
# =================================
# Offsets in 0.1 μm
#
# Parameterising the tripod
trafo[1].id          12 ( Tripod P-CHAN-00262
trafo[1].param[0]    500000
trafo[1].param[1]    0
trafo[1].param[2]    0
trafo[1].param[3]    9100000
trafo[1].param[4]    4585000
trafo[1].param[5]    725900
trafo[1].param[6]    7020000

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.