Overview
Axis parameters
ID | Parameter | Description |
|---|---|---|
P-AXIS-00020 | kenngr.antr_typ | Drive type |
P-AXIS-00118 | kenngr.messachse | Define axis as measurement axis |
Channel parameters
ID | Parameter | Description |
|---|---|---|
P-CHAN-00112 | ori_rotation_angle | Orientation angle mode |
P-CHAN-00262 | id | Default kinematic ID |
P-CHAN-00285 | zero_orientation | Zero orientation of the tool |
P-CHAN-00446 | base[i] | Basic offset of a kinematic |
P-CHAN-00447 | id | ID of a group |
P-CHAN-00448 | workpiece_cs | This group holds the workpiece (only for cooperations) |
P-CHAN-00449 | chain[i] | Definition of the kinematic chain in the group |
P-CHAN-00450 | move_prio[i] | Definition of the sequence for distributing the TCP movement to partial kinematics |
P-CHAN-00458 | lock_dof[i] | Locked Cartesian degrees of freedom which cannot be moved by the solution algorithm. |