Description
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: 1. rotation about Z (C), 2nd rotation about Y´ (B), 3. 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 Build V3.1.3079.35) 4: CBA_STD, corresponds to CBA with a different axis assignment Rotation sequence: 1. 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 Build V3.1.3079.35) 2 degrees of freedom for orientation (cf. KIN-ID 91) 14: AB Rotation sequence: 1. rotation about X(A), 2nd rotation about Y‘ (B) (as of Build V3.1.3079.30) 15: BA Rotation sequence: 1. 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. 15: BA programming. 16: AC programming. 17: CA programming. 18: BC programming. 19: CB programming. |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00262 | Define kinematic ID for multi-step transformations |
Description | The kinematic ID identifies the related transformation as an element of the data set of the kinematic parameters. |
Parameter | trafo[j].id kin_step[i].trafo[j].id (multistep transformations) |
Data type | UNS16 |
Data range | 1 ... MAX(UNS16) |
Dimension | ---- |
Default value | 0 |
Remarks | Parameter syntax as of V300 and higher |
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-00286 | Zero position of the tool (Universal Kinematics) |
Description | This parameter defines the tool position in the zero position (position X, Y, Z, home position). |
Parameter | trafo[j].zero_position[k] where k = 0, 1, 2 kin_step[i].trafo[j].zero_position[k] (multistep transformations) kinematik[91].zero_position[k] (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | ---- |
Dimension | 0.1 µm or 0.0001 inch |
Default value | 0 |
Remarks |
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P-CHAN-00287 | Angle transformation (Universal Kinematics) |
Description | When angle programming mode is active (P-CHAN-00288), this parameter defines how the programmed angle is treated. |
Parameter | trafo[j].rtcp kin_step[i].trafo[j].rtcp (multistep transformations) kinematik[91].rtcp (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | 0: Complete transformation: transforming angle within the range (-p, p] and output to the machine (default). 1: RTCP transformation: programmed angles are output directly to the machine. |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00288 | Programming mode (Universal Kinematics) |
Description | The programming mode defines the tool orientation from the programmed values (point-vector mode or angle modes). Alternatively the mode can also be set by the channel parameter P-CHAN-00112 . A setting of the kinematics has priority over P-CHAN-00112. |
Parameter | trafo[j].programming_mode kin_step[i].trafo[j].programming_mode (multistep transformations) kinematik[91].programming_mode (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | 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, enables the programming of 45° axis positions. 14: AB programming. 15: BA programming. 16: AC programming. 17: CA programming. 18: BC programming. 19: BC programming. |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00289 | Number of axes (Universal Kinematics) |
Description | Parameter defines the number of axes of the kinematic chain. |
Parameter | trafo[j].number_of_axes kin_step[i].trafo[j].number_of_axes (multistep transformations) kinematik[91].number_of_axes (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | 3 ... 6 |
Dimension | ---- |
Default value | 0 |
Remarks | The parameter is also available in multi-step transformations. Access to the parameter is: kin_step[i].trafo[j].number_of_axes |
P-CHAN-00290 | Axis sequence (Universal Kinematics) |
Description | Parameter defines the axis sequence in the kinematic chain. |
Parameter | trafo[j].chain[k] where k = 0 ... P-CHAN-00289 – 1 kin_step[i].trafo[j].chain[k] (multistep transformations) kinematik[91].chain[k] (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | ---- |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00291 | Axis type (Universal Kinematics) |
Description | Parameter defines the axis type. |
Parameter | trafo[j].axis[k].type kin_step[i].trafo[j].axis[k].type (multistep transformations) kinematik[91].axis[k].type (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | 1: Translator 2: Rotator |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00292 | Axis orientation (Universal Kinematics) |
Description | Parameter defines the direction vector (X, Y, Z, no zero vector) of the axis. |
Parameter | trafo[j].axis[k].orientation[i] where i = 0, 1, 2 kin_step[i].trafo[j].axis[k].orientation[i] (multistep transformations) kinematik[91].axis[k].orientation[i] (up to on V2.11.28xx) |
Data type | REAL64 |
Data range | ---- |
Dimension | ---- |
Default value | 0 |
Remarks |
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P-CHAN-00293 | Interpolation point on the axis (Universal Kinematics) |
Description | Parameter defines an interpolation point on the axis (position X, Y, Z, only relevant for rotary axes). |
Parameter | trafo[j].axis[k].point[l] where l = 0, 1, 2 kin_step[i].trafo[j].axis[k].point[l] (multistep transformations) kinematik[91].axis[k].point[l] (up to Version V2.11.28xx) |
Data type | REAL64 |
Data range | ---- |
Dimension | 0.1µm |
Default value | 0 |
Remarks |
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P-CHAN-00295 | Transformation between axis values and Cartesian coordinates (Universal Kinematics) |
Description | Definition of a matrix and an offset vector to describe a linear transformation between axis values of the linear axes and Cartesian coordinates.
Rotary axes are not included in the calculation. The letters X, Y, Z stand here for the three linear axes of the Universal Kinematics in the order of their definition in the parameter trafo[].axis[] (P-CHAN-00293) is inactive. The matrix is defined in trafo[].linkage[0-2][0-2]. The first index specifies the line number; the second index specifies the column number; both are 0-based. The offset vector is defined in trafo[].linkage[0-2][3]. For configuration example, see [FCT-C27// Transformation between axis values and Cartesian coordinates]. |
Parameter | trafo[j].linkage[k][l] where k = 0, 1, 2 and l = 0, 1, 2, 3 kin_step[i].trafo[j].linkage[k][l] (multistep transformations) kinematik[91].linkage[k][l] (up to Build V2.11.28xx) |
Data type | REAL64 |
Data range |
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Dimension | for the matrix: ---- for the offset vector: 0.1 µm |
Default value | 0 |
Remarks |
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