Kinematic ID (P-TOOL-00011)
P-TOOL-00011 | Kinematic ID |
Description | The purpose of kinematic ID is to identify the machine or tool head specific kinematic types implemented in the controller. The parameter can be used to define the kinematic transformation to be used for a tool. When the value 0 is assigned, the kinematic IS results from the default setting in P-CHAN-00032 or from the programming in the NC program (#KIN ID [...] or #TRAFO [...]). The kinematic ID always refers to a transformation which must be defined in the channel parameters in a data record of the first kinematic step (kin_step[0].trafo[*].id or trafo[*].id) If the transformation is active, the kinematic IDs of the transformation and the kinematic ID specified in the tool must match, otherwise the error message ID 20990 is output. If the transformation is in active, the kinematic ID specified in the tool is adopted (same as a programmed #KIN ID [...] ). This kinematic is then selected when it is followed by #TRAFO ON. |
Parameter | wz[i].kin_id |
Data type | UNS16 |
Data range | 0 ≤ kin_id ≤ MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks |
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