9/9/2019 Siemens Documentation: Joint Dependency Editor

Joint Dependency Editor

The Kinematics Function Editor enables you to define functions for weld guns and robots that contain dependent joints. These functions can be used to describe the way the dependent
joints move, based on the movement of other joints to which they are linked.

To define the dependency of joints:

1. Choose Robot tab → Kinematics group → Kinematics Editor .

2. In the Kinematics Editor, select a dependent joint and click . The Joint Dependency window is displayed.

3. Check Independent if you wish the selected joint to be independent.

4. If you wish the selected joint to be dependent, check Joint Function and use the editing buttons to define the joint function describing the dependency.
5. Coupling is enabled if you are editing compound kinematics. Select this option if you wish to define dependency between the selected joint and a joint of a sub device in the device
hierarchy.
From Leading Joint, select the joint upon which to base the dependency.
In Factor, enter a dependency factor. For example, if the leading joint of the sub device is rotated by 3 degrees and you entered a factor of 5, the joint is rotated by 15 degrees.

6. Click Following to create and edit following joints (or multiple following joints) for a single component. Set the Follow Factor according to which the following joint moves relative to
the leading joint (e.g., when jogging the leading joint). You can jog the following joint to make it move independently of the leading joint. The leading and following joints can be of
different types.
7. Click Apply. The joint function is applied to the dependent joint.

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