Kuka KR C2 - 154 $Ori_Check; 155 $Tiroro

2 The file $MACHINE.DAT (continued)
75 of 91
Maschinendaten 12.0400 en
2.1.154 $ORI_CHECK
Orientation check at CP end points (only with five--axis robots)
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
In the case of 5--axis robots, one degree of freedom is missing. This means that it is not
possible to set a default value for the orientation angle C.
There are two possibilities, however, for addressing a Cartesian position. The only difference
here is a difference of 180 degrees for angle C.
If $ORI_CHECK is set to 1, a check is carried out to see whether or not the 5--axis robot
reached the taught end point.
2.1.155 $TIRORO
Offset between internal and current robot coordinate system
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment FRAME {X, Y, Z, A, B, C}
Z
IRO
Y
IRO
X
IRO
A2
Z
3
Y
3
X
3
R=90 degrees
A3
A5
WP
Z
WP
Y
WP
X
WP
FL
X
FL
Z
FL
Y
FL
Y
RO
Z
RO
X
RO
A1
A4 A6
$TIRORO
a b $TX3P3 $TFLWP
Fig. 18 TIRORO
This frame represents the position of the internal robot coordinate system (IRO) in the
externally visible robot base system (RO).