Configuring axes
Configuring axes for partial kinematics is described in detail in the subsection Configuring the partial kinematics.
Notice | |
Besides the axes which are required for the partial kinematics, six additional simulation axes must be configured for the TCP. They must lie on the axis indices 0 - 5 of the channel. |
Only one TCP is allowed. It must always refer to the first group (Index 0). The kinematics of the other groups must be directly programmed. |
The following parameters must be configured for all six TCP axes.
Parameter | Parameter number | Value |
kenngr.antr_typ | 4 | |
kenngr.messachse | 0 |
Measuring with independent axes TCP axes latch no measurement values since they are not physical axes. As a result, they need not be configured as measurement axes. However, a measurement travel can still be executed with the TCP axes when a transformation is active. The Cartesian measurement values of the TCP are then calculated from the measurement values of the individual partial kinematics. |
The sequence of the axes in the channel must be arranged according to the scheme below:
- Starting with group index 0, the axes for the first kinematic in the kinematic chain (chain[0]) are sorted according to the TCP axes in the channel.
- This is followed by the axes of the next kinematic (chain[1]) etc.
- The same principle is used for the other groups (Index 1 to n).
Example
Configuring the axes of a 6-axis robot on linear axis
trafo[2].group[0].name LIN_ROB
trafo[2].group[0].chain[0] LINEAR
trafo[2].group[0].chain[1] ROBOT
trafo[2].group[1].name TABLE
trafo[2].group[1].chain[1] CA_TABLE
The axis sequence can be defined as follows:
- Axis index 0-5: TCP axes
- Axis index 6: Axis of the LINEAR kinematic (X linear axis)
- Axis index 7-12: Axes of the ROBOT kinematic (6-axis robot)
- Axis index 13-14: Axes of the CA_TABLE kinematic (rotary/swivel table)
Notice | |
The axis sequence must be maintained according to the scheme described above. Any resulting errors are dependent on which axes are incorrectly assigned to a different kinematic. |