Kuka KR C2 - 156 $Tflwp; 157 $Tx3 P3; 158 $Length_A; 159 $Length_B

Machine Data
76 of 91
Maschinendaten 12.0400 en
2.1.156 $TFLWP
Offset between flange point and wrist point 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}
(See Fig. 18.) Link frame between the last wrist coordinate system (WP) and the externally
visible flange system (FL) (representation of FL system in the WP system).
2.1.157 $TX3P3
Offset of robot wrist, based on axis 3
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment FRAME {X, Y, Z, A, B, C}
Link frame between t he last main axis system (P3) and the first wrist coordinate system (X3)
(representation of the X3 system in the P3 system).
Bear in mind that coordinate system P3 does not correspond to the DH convention as robot
axis 3 in the standard robot (#NR), for example, rotates about the Y3 axis of the P3 system.
The Z axis of the first wrist axis system X3 must be parallel (or antiparallel) to rotational
axis 4, as the wrist is described using DH parameters.
2.1.158 $LENGTH_A
Main axis length A, eccentricity of axis 2 relative to axis 1
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This is a geometrical length that depends on the specific main axis kinematic system that
has been set.
2.1.159 $LENGTH_B
Main axis length B, link arm length
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This is a geometrical length that depends on the specific main axis kinematic system that
has been set.