KIN_TYP_80

Direction of rotation of A axis

Kinematic 80 is used to invert the direction of rotation of the A axis. For these cases, set the kinematic parameter 14 (HD15) to 1. On the other hand, the default value 0 characterises a mathematically positive rotating A axis.

Programming Example

Adapting the rotation direction of the A axis

; 0 = positive direction

; 1 = negative direction

; NOTE: in some cases, the previous value of

; V.G.KIN[80].PARAM[14] may have to be restored later.

V.G.KIN[80].PARAM[14] = 1

	This may overwrite a globally known V.G. variable. If required, the operator will have to look after restoring the original value later.

Specifying the vertical offset value:

The test set-up described may not be capable of detecting a specific geometry value of the kinematic. This refers to the vertical offset value HD12 + HD6 + HD9 which must be determined by a measurement which is carried out beforehand.

This value is then entered in the main calculation program as follows:

Programming Example

Entering the vertical offset value

; The value of HD12 + HD6 + HD9, in mm

V.L.HD12_HD6_HD9 = -3.135