Description of flange and tool

The parameters zero_position (P-CHAN-00286) and zero_orientation (P-CHAN-00285) specify the zero position and the zero orientation of the machine.

Zero orientation of the machine

The parameter P-CHAN-00286 specifies the position of the flange in the zero orientation of the machine.

Example

Parameter definition of the flange zero position

# Flange rests at point (12000, 3200, 500)
kinematik[91].zero_position[0]    12000
kinematik[91].zero_position[1]    3200
kinematik[91].zero_position[2]    500
Description of flange and tool 1:
Zero position of the flange

Tool orientation in relation to zero position

The parameter P-CHAN-00285 specifies the orientation of the tool in the zero setting of the machine.

The parameter zero_orientation then only acts on the kinematic if a tool length is used. In the zero orientation of the machine, the position of the TCP is calculated as follows:

TCP = zero_position - tool length * zero_orientation

Example

Zero orientation of the tool

# Tool points in Z direction
kinematik[91].zero_orientation[0]    0
kinematik[91].zero_orientation[1]    0
kinematik[91].zero_orientation[2]    1
Description of flange and tool 2:
Zero orientation of the tool

Example

Zero orientation of the tool at an angle of 45 degrees - with normalisation

# Tool is at an angle of 45° to the Y and Z axes
kinematik[91].zero_orientation[0]    0
kinematik[91].zero_orientation[1]    0,707
kinematik[91].zero_orientation[2]    0,707

Zero orientation must be a vector of Length 1 in order to include the tool length correctly.

Example

Zero orientation of the tool at an angle of 45 degrees - with normalisation of Length 1

# Tool is at an angle of 45° to the Y and Z axes
kinematik[91].zero_orientation[0]    0
kinematik[91].zero_orientation[1]    0.707107
kinematik[91].zero_orientation[2]    0.707107