Cartesian assignment
A kinematic model has a certain arrangement of zero point and direction of rotation of the joint axes in relation to the kinematic coordinate system. In the default setting (value 0), the kinematic coordinate system is identical to the BASE coordinate system.
The kinematic model can be tilted with the kinematic coordinate system relative to the BASE coordinate system by 90° multiples. Depending on the kinematic model, there are up to 23 possibilities based on the default setting.
For each Cartesian assignment, the following table shows how the BASE coordinate system is oriented relative to the kinematic coordinate system or, inversely, how the kinematic coordinate system is oriented relative to the BASE coordinate system.
The setting is made in the configuration menu of the kinematic model and is possible from MOVISUITE® permission level "advanced".
Cartesian assignment | Orientation of the BASE coordinate system relative to the kinematic coordinate system | Orientation of the kinematic coordinate system relative to the BASE coordinate system | ||||
|---|---|---|---|---|---|---|
X_BASE | Y_BASE | Z_BASE | X_KIN | Y_KIN | Z_KIN | |
0 | X_KIN | Y_KIN | Z_KIN | X_BASE | Y_BASE | Z_BASE |
1 | - Y_KIN | X_KIN | Z_KIN | Y_BASE | - X_BASE | Z_BASE |
2 | - X_KIN | - Y_KIN | Z_KIN | - X_BASE | - Y_BASE | Z_BASE |
3 | Y_KIN | - X_KIN | Z_KIN | - Y_BASE | X_BASE | Z_BASE |
4 | X_KIN | - Y_KIN | - Z_KIN | X_BASE | - Y_BASE | - Z_BASE |
5 | - Y_KIN | - X_KIN | - Z_KIN | - Y_BASE | - X_BASE | - Z_BASE |
6 | - X_KIN | Y_KIN | - Z_KIN | - X_BASE | Y_BASE | - Z_BASE |
7 | Y_KIN | X_KIN | - Z_KIN | Y_BASE | X_BASE | - Z_BASE |
8 | Z_KIN | X_KIN | Y_KIN | Y_BASE | Z_BASE | X_BASE |
9 | Z_KIN | - Y_KIN | X_KIN | Z_BASE | - Y_BASE | X_BASE |
10 | Z_KIN | - X_KIN | - Y_KIN | - Y_BASE | - Z_BASE | X_BASE |
11 | Z_KIN | Y_KIN | X_KIN | - Z_BASE | Y_BASE | X_BASE |
12 | Y_KIN | Z_KIN | X_KIN | Z_BASE | X_BASE | Y_BASE |
13 | X_KIN | Z_KIN | - Y_KIN | X_BASE | - Z_BASE | Y_BASE |
14 | - Y_KIN | Z_KIN | - X_KIN | - Z_BASE | - X_BASE | Y_BASE |
15 | - X_KIN | Z_KIN | Y_KIN | - X_BASE | Z_BASE | Y_BASE |
16 | - Z_KIN | Y_KIN | X_KIN | Z_BASE | Y_BASE | - X_BASE |
17 | - Z_KIN | X_KIN | - Y_KIN | Y_BASE | - Z_BASE | - X_BASE |
18 | - Z_KIN | - Y_KIN | - X_KIN | - Z_BASE | - Y_BASE | - X_BASE |
19 | - Z_KIN | - X_KIN | Y_KIN | - Y_BASE | Z_BASE | - X_BASE |
20 | X_KIN | - Z_KIN | Y_KIN | X_BASE | Z_BASE | - Y_BASE |
21 | - Y_KIN | - Z_KIN | X_KIN | Z_BASE | - X_BASE | - Y_BASE |
22 | - X_KIN | - Z_KIN | - Y_KIN | - X_BASE | - Z_BASE | - Y_BASE |
23 | Y_KIN | - Z_KIN | - X_KIN | - Z_BASE | - X_BASE | - Y_BASE |
