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7
Range of functions
7.1
Transformation chain
For the supplied SFE position values to be used correctly in the controller, the tool information cannot
be described as a transformation. The transformation must be described from a chain of several
transformations. This is necessary, as the SFE flange is mobile and can therefore also be displaced
by the TCP. If the SFE offset were not restored, the tool transformation would not be updated and you
would receive incorrect values about the current position of the TCP.
It is therefore recommended to build up two transformation chains to compare deflected and
fixed/locked SFEs.
• The first chain contains the transformations with the locked SFE.
• The second is fed with the SFE values which you obtain using GET;POSE.
The values are written in the SFE unlocked transformation.
See figure
13 Transformation chain for unlocked
The SFE is made up of three parts in the transformation chain:
• Base (the top part with a length of 86.63 mm)
• Flange (17.2 mm in length)
• Transformation (created by the displacement between the base and flange)
The displacement is in the origin of coordinates in the following figure:
Displacement
This displacement can be obtained using the command GET;POSE.
Open the command GET;POSE cyclically.
The writing of the updated values in the transformation must by cyclical so that this is kept up to
date.
en
Range of functions
SFE.
7
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