Modification in the NC program
The following parameters can be configured by V.G.KIN variables in the NC program.
ID | V.G.KIN variable |
P-CHAN-00446 | V.G.KIN[i].BASE[j] |
P-CHAN-00447 | V.G.KIN[210].GROUP[i].NAME |
P-CHAN-00448 | V.G.KIN[210].GROUP[i].WORKPIECE_CS |
P-CHAN-00449 | V.G.KIN[210].GROUP[i].CHAIN[j] |
P-CHAN-00450 | V.G.KIN[210].GROUP[i].MOVE_PRIO[j] |
P-CHAN-00458 | V.G.KIN[i].LOCK_DOF[j] |
If V.G. variables are programmed when a transformation is active, the new kinematic parameters only become active when the transformation is re-activated.
The command #KIN DATA [LOCKDOF | UNLOCKDOF] [PROG] is provided to change locked degrees of freedom when a transformation is active.