Channel parameters
P-CHAN-00112 | Mode of orientation angle programming for kinematic transformations |
Description | With a complete transformation, orientation about the coordinate system axes can be programmed either by using an orientation vector with the three components U, V, W or by using three rotation angles A, B, C depending on the transformation type. Due to the additional degree of freedom provided by manual orientation, programming the rotation angles A, B, C is often the property of robot structures. The sequence of the three rotations about the assigned rotary axes X, Y, Z leads to the required target orientation or to the target effector coordinate system. If not otherwise defined, single rotations are executed in a mathematically positive direction about the coordinate system axes which are to be reset. The starting point is an axis sequence with the Cartesian axes X, Y, Z and the rotary axes A, B, C. The default assignment of rotations about the coordinate system axes is A -> X, B -> Y, C -> Z. This may deviate with special angle modes. Some kinematics use special sequences of rotation which are not listed here. In this case, switching using P-CHAN-00112 is not possible. P-CHAN-00112 has no measuring with standard five-axis kinematics. Special values can be entered in P-CHAN-00112 for Universal Kinematics (KIN-ID91). |
Parameter | ori_rotation_angle |
Data type | SGN16 |
Data range | -1: Programmed orientation axes are forwarded to kinematic transformation without any changes. Any Cartesian transformation which may be active with an active rotation has no influence on these orientation axes Complete kinematics transformations 0: YPR (Yaw Pitch Role) sequence of rotation: 1st rotation about Z (C), 2nd rotation negative about Y´ (B), 3rd rotation about X´´ (A) (default) 1: Euler, order of rotation: 1st rotation about Z (C), 2nd rotation about Y´ (B), 3rd rotation about Z´´ (C) 2: CBA, similar to YPR with positive B rotation and different axis assignment. Rotation about Z (A), 2nd rotation about Y´ (B), 3rd rotation about X´´ (C). -> A15 B-90 C20 (CBA) is identical to A20 B90 C15 (YPR). 3: CAB rotation sequence, 1st rotation about Z (C), 2nd rotation about X’ (A), 3rd rotation about Y´’ (B) (as of V3.1.3079.35) 4: CBA_STD, corresponds to CBA with a different axis assignment Rotation sequence: 1st rotation about Z(C), 2nd rotation about Y‘(B), 3rd rotation about X‘‘(A) 5: ABC rotation sequence, 1st rotation about X (A), 2nd rotation about Y´ (B), 3rd rotation about Z´´ (C). (as of V3.1.3079.35) 2 degrees of freedom for orientation (compare KIN-ID 91) 14: AB, rotation sequence: 1st rotation about X(A), 2nd rotation about Y‘ (B) (as of Build V3.1.3079.30) 15: BA, rotation sequence: 1st rotation about Y(B), 2nd rotation about X‘(A) (as of Build V3.1.3079.30) 2nd
Universal kinematic transformations (KIN-ID 91): 10: Point-vector programming. Tool orientation is programmed by the axes U, V, W. The vector [U, V, W] need not be normalised but neither may it be the zero vector. 11: Free programming. Not currently supported. 12: Direct programming. The configured kinematic chain is used to calculate the tool position and orientation from programmed Cartesian coordinates and angles. 13: Conformal programming. Same as direct programming but without any axis offsets, shifts or direction flags. For example, allows the programming of 45° axis positions. 14: AB programming with tool in X direction 15: BA programming with tool in Y direction 16: AC programming with tool in X direction 17: CA programming with tool in Z direction 18: BC programming with tool in Y direction 19: CB programming with tool in Z direction 20: AB programming with tool in Z direction 21: BA programming with tool in Z direction |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00262 | Define kinematic ID for transformations |
Description | The kinematic ID identifies the related transformation as an element of the data set of kinematic parameters. The definition can be made for single-step, multi-step and PCS transformations. |
Parameter | trafo[j].id kin_step[i].trafo[j].id (multi-step transformations) trafo_pcs[i].id (PCS transformation *) |
Data type | UNS16 |
Data range | 1 ... MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Parameter syntax as of V300 and higher *The PCS transformation function is available as of V3.1.3110. |
P-CHAN-00285 | Zero orientation of the tool (Universal Kinematics) |
Description | This parameter defines the tool orientation in the zero setting (vector X, Y, Z, tool direction). |
Parameter | trafo[j].zero_orientation[k] where k = 0, 1, 2 kin_step[i].trafo[j].zero_orientation[k] (multistep transformations) kinematik[91].zero_orientation[k] (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | ---- |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00446 | Definition of the Cartesian basic offsets for stacked kinematics. |
Description | The basic offsets are active for stacked kinematics and they describe the Cartesian offsets between the MCS of a kinematic and the TCP of the kinematic stacked below it. A robot is situated on a slide on a linear axis. Due to the presence of the slide there is a 10 cm offset in z direction between the linear axis and the base of the robot. Enter this offset for the robot here: trafo[0].id 45 |
Parameter | trafo[j].base[k] where k=0 … 5 kin_step[i].trafo[j].base[k] (multistep transformations) |
Data type | REAL64 |
Data range | MIN(REAL64) … MAX(REAL64) |
Dimension | 0.1µm for linear offsets, 0.0001° for angles |
Default value | 0.0 |
Remarks | The basic offsets are only considered when the coupling kinematic is active. |
P-CHAN-00447 | Definition of a group ID of a coupling kinematic |
Description | A coupling kinematic group includes a number of stacked partial kinematics and is uniquely identifiable by its ID. |
Parameter | trafo[j].group[k].id kin_step[i].trafo[j].group[k].id (multi-step transformations) |
Data type | UNS16 |
Data range | 0 … MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | As of Build V3.1.3080.09 A group ID may not be assigned more than once within a coupling kinematic. |
P-CHAN-00448 | Definition of a workpiece CS for a group of a couple kinematic. |
Description | If a tool CS is specified (group ID of another group of the coupling kinematic), all TCP coordinates of this group are interpreted in the TCP system of the group specified as the workpiece CS. This group therefore follows the movements of the workpiece CS group. |
Parameter | trafo[j].group[k].workpiece_cs kin_step[i].trafo[j].group[k].workpiece_cs (multi-step transformations) |
Data type | UNS16 |
Data range | 0 … MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Configuration example: trafo[0].id 210 trafo[0].group[0].id 100 trafo[0].group[1].id 200 trafo[0].group[1].workpiece_cs 100 After the kinematic (ID 210) is selected, group 200 follows the movements of group 100 since it is configured as the tool coordinate system of 200. As of Build V3.1.3080.09 |
P-CHAN-00449 | Definition of a kinematic chain for a group of a coupling kinematic |
Description | Description of the sequence in which the partial kinematics within a coupling kinematic are stacked on top of each other.. Index m = 0 points to the lowest kinematic. |
Parameter | trafo[j].group[k].chain[l] kin_step[i].trafo[j].group[k].chain[l] (multi-step transformations) |
Data type | UNS16 |
Data range | 0 … MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Each kinematic used here must be configured as an autonomous kinematic with a corresponding ID. Configuration example: Robot on a linear axis trafo[0].id 1 trafo[0].type 210 trafo[0].group[0].id 100 trafo[0].group[0].chain[0] 3 trafo[0].group[0].chain[1] 2 trafo[1].id 2 trafo[1].type 45 trafo[2].id 3 trafo[2].type 91
As of Build V3.1.3080.09 |
P-CHAN-00450 | Priority which the couple kinematic uses to split the TCP movement among the partial kinematics. |
Description | The algorithm which distributes the programmed TCP coordinates among the partial kinematics precedes the priority defined here: Beginning with the index m = 0 the largest possible part of the movement is to be traversed by this kinematic. The resulting difference to the programmed TCP is handed over to the next kinematic in the list. This step is repeated until the TCP coordinates are reached, or until the last entry within the sequence defined here is reached. |
Parameter | trafo[j].group[k].move_prio[m] where m = 0 … Length of the kinematic chain kin_step[i].trafo[j].group[k].move_prio[m] (multi-step transformations) |
Data type | UNS16 |
Data range | 0 ... MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Each of the names used here must be present within the kinematic chain. Configuration example: Robot on a linear axis trafo[0].id 1 trafo[0].type 210 trafo[0].group[0].id 100 trafo[0].group[0].chain[0] 3 trafo[0].group[0].chain[1] 2 trafo[0].group[0].move_prio[0] 2 trafo[0].group[0].move_prio[1] 3 trafo[1].id 2 trafo[1].type 45 trafo[2].id 3 trafo[2].type 91 In this example, the entire TCP movement is first handed over to the robot. What the robot cannot clear is then adopted by the linear axis.
As of Build V3.1.3080.09 |
P-CHAN-00458 | Lock the Cartesian degrees of freedom of the couple kinematic |
Description | This parameter influences the behaviour of the coupling kinematic with a programmed TCP. While the TCP movement is distributed among the individual partial kinematics, the locked axes are not moved. Index k describes the axis index to be locked. A parameter value > 0 marks the axis with axis index k as locked. |
Parameter | trafo[i].lock_dof[k] kin_step[i].trafo[j].lock_dof[k] (multistep transformations) |
Data type | BOOLEAN |
Data range | 0 / 1 |
Dimension | ---- |
Default value | 0 |
Remarks | A locked axis may continue to be programmed directly by its axis identifier. Configuration example: trafo[0].id 210 |