Kuka KR C2 - Ex_Kin; Et1_Ax

Machine Data
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Maschinendaten 12.0400 en
2.2.5 $EX_KIN
External kinematic systems
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$EX_KIN” establishes the link between the external transformation in $MACHINE.DAT and
the external kinematic system in $CONFIG.DAT.
#EASYS to #EFSYS = identifier for external base kinematic systems
#ERSYS = identifier for external ROBROOT kinematic system
Example
External transformations 1 and 2 are both base kinematic systems:
DECL EX_KIN $EX_KIN={ET1 #EASYS,ET2 #EBSYS,ET3 #NONE,ET4
#NONE,ET5 #NONE,ET6 #NONE}
2.2.6 $ET1_AX
External axes
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$ET1_AX” designates the aggregate containing a list of the external axes which are used
in the 1st external transformation.
Example
The first transformed axis in the kinematic chain, TR_A1, is to be assigned the second
external axis #E2:
DECL ET_AX $ET1_AX={TR_A1 #E2,TR_A2 #NONE,TR_A3 #NONE}
The aggregate must not contain any gaps; the assignments are made from left to right.