Direct programming of partial kinematics
Partial kinematics can only be programmed by linear blocks. However, the TCP must be programmed for extended movements such as circles.
Programming Example
Direct programming of robots and linear axes
N010 #KIN ID [210]
N020 #TRAFO ON
N030 G00 G90 X_ROB=1000 X_LIN=500
N040 G00 G90 Y_ROB=300 Y_LIN=0
N050 #TRAFO OFF
N020 #TRAFO ON
N030 G00 G90 X_ROB=1000 X_LIN=500
N040 G00 G90 Y_ROB=300 Y_LIN=0
N050 #TRAFO OFF
At program end, the coordinates are:
| X | Y |
Linear unit | 500 | 0 |
Robot | 1000 | 300 |
TCP | 1500 | 300 |