Configuring the kinematic chain of a group

Configuration is by means of the parameter chain[i] (P-CHAN-00449).

Notice

Missing kinematic ID

If a kinematic ID specified in P-CHAN-00449 cannot be found in the list of all transformations, error ID 292064 is output.

The kinematic chain is configured according to its physical design:

chain[0]: Kinematic included by no other kinematic
chain[i]: Kinematic included by the kinematic chain [i-1]
Highest index: Kinematic included by no other kinematic

Configuring the kinematic chain of a group 1: — Group design

Example

A robot stands on a linear axis

trafo[0].id 1
trafo[0].type 45
...

trafo[1].id 2
trafo[1].type 91
…

trafo[2].id                 3
trafo[2].type               210
trafo[2].group[0].id        100
trafo[2].group[0].chain[0]  2
trafo[2].group[0].chain[1]  1
…