Kuka KR C2 - Et1_Ta2 A1; Et1_Ta3 A2; Et1_Tfla3

Machine Data
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Maschinendaten 12.0400 en
“$ET1_TA2A1” defines the offset between transformation axis 1 (first external axis used) and
the pivot point of axis 2 (second external axis used in this external transformation, ET1).
Example
FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
2.2.10 $ET1_TA3A2
Frame linkage between A2 and A3
Data type real
min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$ET1_TA3A2” defines the offset between transformation axis 2 (second external axis used)
and the pivot point of axis 3 (third external axis used in this external transformation, ET1).
Example
FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
2.2.11 $ET1_TFLA3
Frame linkage between A3 and the flange
Data type real
min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$ET1_TFLA3” defines the offset between transformation axis 3 (third external axis used)
and the flange coordinate system.
Example
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}