Kinematics offsets

# Robot: 6-axis articulated robot based on the example of KR210 R2700-2

# ----------------------------------------------------------

# Offset from G3 to rotation sym. axis in beam arm -115 mm

# X offset from the origin to the rotation point G2 330 mm

# Z offset from the origin to the rotation point G2 645 mm

# Top arm length 2 1150 mm

# Bottom arm length G3 to G5 1120 mm

# Distance G5 to G6 215 mm

#

trafo[1].id       45        ( Kinematic ID P-CHAN-00262

trafo[1].param[0] 500000    ( Effector offset: Z

trafo[1].param[1] 2500000   ( X

trafo[1].param[2] 0         ( Y

trafo[1].param[3] 0         ( Effector rotation: X''

trafo[1].param[4] 900000    (Y'

trafo[1].param[5] 0         (Z

trafo[1].param[6] 6450000   (Z offset from G1 to G2

trafo[1].param[7] 11500000  (Z offset from G2 to G3

trafo[1].param[8] 12200000  (X offset from G3 to G5

trafo[1].param[9] 2150000   (X offset from G5 to G6

trafo[1].param[10] 3300000 (X offset from G1 to G2

trafo[1].param[11] -1150000 (Z offset from G3 to G5

trafo[1].param[13] 0        (Angle offset zero position G2

trafo[1].param[14] 0        (Angle offset zero position G3

trafo[1].param[20] 1        (Rotation direction G1 negative

trafo[1].param[21] 0        (Rotation direction G2 negative

trafo[1].param[22] 0        (Rotation directionG3 negative

trafo[1].param[23] 1        (Rotation direction G4 negative

trafo[1].param[24] 0        (Rotation direction G5 negative

trafo[1].param[25] 1        (Rotation direction G6 negative

trafo[1].param[30] 0        (Old orient. of flange coordinate system

trafo[1].param[31] 0        (Y offset from G4 to G1