Who knows anything about $tool_kin?
$tool_kin
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Greedy -
December 9, 2013 at 8:26 PM -
Thread is marked as Resolved.
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String variable, the name of the current external Tool kinematic system. I've never messed with it, but from the description I'd assume it has something to do with Fixed Tools, possibly with external kinematic systems. Most likely a read-only variable.
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$TOOL_KIN is a preparation for tool kinematics. The KRC up to now knows two different types of external kinematics:
1) Robroot-Kinematic: The robot is mounted on the external kinematic (most common is a single linear axis like a KL), see $ROBROOT_KIN and $EX_KIN.ETx = #ERSYS
2) Base-Kinematic: The external kinematic is independent of the robot, see $BASE_KIN and $EX_KIN.ETx = #EASYS or #EBSYS or ... or #EFSYSTheoretically there is a third type called Tool-kinematic (even though not fully implemented inside the KRC and hence not allowed for customers), where the external kinematic would be mounted to the robots flange. Maybe this feature will be available in the future.
Fubini
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That would be useful. I am not surprised it doesn't exist yet though. Had an application where we wanted a positioner on the tool, but assumed we would have to solve the kinematics ourself