Tool data

Since coupling kinematics may consist of several partial kinematics, it must be clearly specified to which partial kinematic the tool is to be attached when the tool is changed. This ensures that the kinematic parameters of the tool are added to the parameters of the correct partial kinematic.

The tool data are therefore supplemented by the parameter P-TOOL-00148 which defines the name of the partial kinematic to which the tool is changed.

Configuring tool data

...
wz[1].kin_name ROBOT
...

The name specified here is compared with the names of the partial kinematics (P-CHAN-00443) and a search is made for the corresponding partial kinematic. The parameter data configured in this tool is then transferred to the correct partial kinematic.

Notice

If a kinematic name is specified in the tool, a partial kinematic of the coupling kinematics must have the same name.

If the name of the kinematic is not found, the error ID 22053 is output.

	If P-TOOL-00148 is not configured, the tool is changed to the partial kinematic with the highest index in the first group.