Kuka KR C2 - Ersysroot

Machine Data
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Maschinendaten 12.0400 en
2.1.9 $ERSYSROOT
Offset and orientation with external axes
Data type -- --
min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max
-- --
Assignment FRAME {X, Y, Z, A, B, C}
Offset and orientation of the robot relative to the world coordinate system.
Defines the offset between the root point of the external axis and the robot base flange.
Only valid if external axes are present (e.g. robot is mounted on a linear unit).
If $ERSYSROOT is valid, $ROBROOT is ignored.
The frame chain of a robot arm and a linear unit (KL) with mathematical coupling is illustrated
below (Fig. 3).
X
Y
A1
A2
A4
A3
A5
A6
Z
X
Y
Z
X
Y
Z
X
Y
Z
X
Y
Z
$ROBROOT_C(t)
Robot
$ERSYSROOT
$WORLD
#ERSYS
Linear traversing unit
$TOOL
$POS_ACT
$BASE
($ROBROOT)
Fig. 3 Frame chain with linear unit
The external ROBROOT kinematic system lies in the offset from “$WORLD” to
“$ROBROOT”. With every motion of the ROBROOT kinematic system, the position in space
of the robot changes. As allowance must always be made for this external axis when
calculating the position, this external kinematic system is always situated in the offset from
“$WORLD” to “$ROBROOT”.
The external coupling is always switched on and cannot be switched off. As in the case of
the external BASE kinematic system, there is no constant ROBROOT value. The contents
of the machine datum “$ROBROOT” are ignored. The current value can be read from the
main run variable “$ROBROOT_C”.