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.

Regardless of the set Cartesian assignment, the drives must be appended to the software node of the software module from left to right in ascending order of the joint axes of the selected kinematic model in MOVISUITE^®. The sequence of the joint axes of the selected kinematic model is specified in the following chapters and is independent of the set Cartesian assignment. Even if, for example, the user designates joint axis 2 as "X-axis" and joint axis 1 as "Y-axis", joint axis 2 must be appended to the software node to the right of joint axis 1.

The setting is made in the configuration menu of the kinematic model and is possible from MOVISUITE^® permission level "advanced".