Kuka KR C2 - Planning

2 The file $MACHINE.DAT (continued)
65 of 91
Maschinendaten 12.0400 en
2.1.138 $TRAFO_AXIS
Number of transformed axes
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This machine datum specifies the number of transformed axes.
The value must be between 4 and 6, even if, for example, only three axes are physically
present, and can differ from the value of $NUM_AX.
2.1.139 $MAIN_AXIS
Main axis identification
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Main axes is the designation given to the first three robot axes. These can be designed as
either rotating or linear joints. Two consecutive main axes are either parallel or perpendicular
to one another .
This means that a maximum of 12 geometrically dif ferent arrangements are possible.
Eight of these arrangements can be configured using this machine datum.
Description of the permissible values:
G #SS = Gantry
$LENGTH_A
Z
iro
Y
iro
X
iro
r3
q3
P3
Fig. 10 #SS configuration
G #CC = SCARA