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.