Moved workpiece
The moved workpiece is a subfunction of kinematic 45. It allows the control of an industrial robot where the workpiece is attached to the flange by a standard processing program, whereas the (milling) tool has a fixed position in space.
![]() | The further the robot is away from the fixed tool, the greater the movement of the robot when changing the orientation ABC. |
This function is activated by the kinematic parameter HD33 of kinematic 45.
Tool set-up
The tool parameters for kinematic 45 can be directly entered in the parameters HD1-6 or they can be activated by a suitable tool by means of tool-head offsets when the tool is selected.
Tool-head offsets are added to the kinematic parameters (no concatenation takes place). If this function is used, it is recommended to set the parameters HD1-6 in the channel parameter list to “0”.
Parameterisation example of HD1-3 for a fixed tool:
Example: Parameterisation of HD4-6 for a fixed tool:
Tool set-up
Offsets of the coordinate system into the workpiece now have the robot flange system as the lowest reference point for the moved workpiece.
Every further offset/rotation haves as usual.
Only one tool can be active at any one time. This is the machining tool of the moved workpiece. A gripper on the flange can be defined by an offset (e.g. #CS).
The parameterisation example below refers to the standard flange orientation (HD 31 = 0).