July 2013 8.6 DCM – Dynamic Collision Monitoring 1489
Requirements on the control:
If no valid kinematics is active on the control, or if the entry KINEMATIC = is
missing from the OEM.SYS, the error message Kinematics table missing
appears, and KinematicsDesign is not started.
If you have created the kinematics description only with the
KinematicsDesign version on the control and without the KinematicsDesign
PC tool, then no .ini file (KineDesign.ini) of KinematicsDesign is available in
the control.
In this case, it may be necessary to create the file manually. If the machine
configuration does not differ from the standard configuration (positive Z axis
points up, and the positive X axis to the right) assumed by
KinematicsDesign, you do not need to create the KineDesign.ini file. Also, if
the kinematics description was transferred to the control by the
KinematicsDesign PC tool, the .ini file is created automatically in the control
and does not need to be created manually.
However, if the configuration of your machine differs from the assumed
standard configuration, you must manually create the KineDesign.ini file on
the control. The file must be stored in the same directory as the
KINELIST.tab file. The KineDesign.ini file must be an ASCII file with the two
following entries:
UpwardAxis =
RightwardAxis =
Example of KineDesign.ini:
UpwardAxis = –Z
RightwardAxis = –X
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