Basic settings
Parameter designation | Description |
|---|---|
General | |
Expert mode | Display expert settings "Cartesian assignment" and "MIXED_RLLR_M10 lateral offset to joint 4". |
Index: 50000.106 | |
IEC name: – | |
Kinematic model | |
Activate loading of default values | Activate loading of default values to overwrite all previously configured kinematic, joint, physics and dynamic model values with the default values of the newly selected model when changing the kinematic model. Deactivating the loading of default values is useful if configurations should be kept even after changing the model (e.g. if the variant of the model is changed from a TRIPOD_RRR to a TRIPOD_RRRR, but the settings of the first three rotatory axes should be kept). |
Index: 50021.255 | |
IEC name: – | |
Model type | Select the kinematic model. Depending on the selected kinematic model, additional submenus with specific configuration options are displayed in the configuration menus Kinematic model and Monitoring functions. For more detailed information on configuring the kinematic models and the parameters contained therein, refer to chapter Kinematic models. |
Index: 50021.1 | |
IEC name: – | |
Cartesian assignment | Adapt the Cartesian coordinate axes of the BASE coordinate system BCS of a kinematic model. In the default setting (0), the KCS (Kinematic Coordinate System) is identical to the BASE coordinate system BCS (Base Coordinate System). See also Cartesian assignment. |
Index: 50021.2 | |
IEC name: – | |
Number of couplings | Number of couplings If the setting is greater than 0, the crank parameterization table is displayed with the columns "Index", "Crank type" and the parameters required for the type. See also Couplings. |
Index: 50022.1 | |
IEC name: – | |
Number of cranks | Number of cranks If the setting is greater than 0, the crank parameterization table is displayed with the columns "Index", "Crank type" and the parameters required for the type. See also Cranks. |
Index: 50022.2 | |
IEC name: – | |
Additional functions | |
Touchprobe measurement and positioning (Touchprobe) | Activate the Touchprobe function (measurement and/or sensor-based positioning). When the function is activated, it can be selected in the RobotMonitor and the corresponding license is retrieved by the MOVI-C® CONTROLLER. For further information, refer to chapter Touchprobe. |
Index: 50020.24 | |
IEC name: – | |
Circular interpolation | Activate the function of MOVIKIT® Robotics addon Circle. For more information, refer to chapter Add-ons. |
Index: 50020.17 | |
IEC name: – | |
Limit value for correcting the circle center | Limit value for the displacement of the circle center in [mm] for circle definition CenterEndpos. |
Index: 50020.18 | |
IEC name: – | |
Synchronization with moving objects (ConveyorTracking & RotaryTableTracking) | Activate the function of MOVIKIT® Robotics addon ConveyorTracking. For more information, refer to chapter Add-ons. |
Index: 50020.16 | |
IEC name: – | |
Automatic G-code import | Activate the additional function "Automatic G-code import". See Automatic G-code import. |
Index: 50020.26 | |
IEC name: – | |
Physics simulation | |
Export to SEW-Workbench | Adds the export function for the SEW-Workbench to the IEC project. |
Precontrol | Activate the "TorquePreControl" function (add to the IEC project). For more information regarding the operating principle, refer to chapter TorquePreControl. |
Collision response | Activates the "Collision response" function (add to the IEC project). For more information regarding the operating principle and startup, refer to chapter Collision detection (CollisionDetection). |
Response to detected collision INFORMATION: Visible only if "Activate collision response" is activated. | Collision response that is to be triggered after detecting a collision: - Information – Warning - True-to-path application stop without output stage inhibit - True-to-path application stop + output stage inhibit - True-to-path emergency stop + output stage inhibit - Axis-wise emergency stop + output stage inhibit |
Number of additional joint axes | Specify the number of additional joint axes. The maximum number is 10. |
Additional joint axis X | Characteristic of the additional joint axis Changing the characteristic resets the limit values of this joint axis to the default values for that type. The limit values can then be edited in the "Monitoring functions" > "Additional joint axes – limit values" configuration menu. |
