modeling-app/public/kcl-samples/multi-axis-robot/globals.kcl

// Global constants for the multi-axis robot

// Set Units
@settings(defaultLengthUnit = in)

// Axis Angles
export axisJ4 = 25
export axisJ3 = 60
export axisJ2 = 110
export axisJ1 = 80

// Robot Arm Base
export basePlateRadius = 5
export basePlateThickness = 0.5
export baseChamfer = 2
export baseHeight = 5

// J2 Axis for Robot Arm
export axisJ2ArmLength = 31
export axisJ2ArmWidth = 4
export axisJ2ArmThickness = 2.5

// J3 Axis for Robot Arm
export axisJ3C = axisJ3 - 180 + axisJ2
export axisJ3CArmLength = 20
export axisJ3CArmWidth = 3.75
export axisJ3CArmThickness = 2.5

// Planes
export plane001 = {
    plane = {
      origin = [0.0, 0.0, baseHeight - 1.5 + 0.1],
      xAxis = [1.0, 0.0, 0.0],
      yAxis = [0.0, 1.0, 0.0],
      zAxis = [0.0, 0.0, 1.0]
    }
  }

export plane002 = {
    plane = {
      origin = [0.0, 0.0, 0.0],
      xAxis = [
        sin(toRadians(axisJ1)),
        cos(toRadians(axisJ1)),
        0.0
      ],
      yAxis = [0.0, 0.0, 1.0],
      zAxis = [1.0, 0.0, 0.0]
    }
  }

// Define Plane to Move J2 Axis Robot Arm
export plane003 = {
    plane = {
      origin = [-0.1, 0.0, 0.0],
      xAxis = [
        sin(toRadians(axisJ1)),
        cos(toRadians(axisJ1)),
        0.0
      ],
      yAxis = [0.0, 0.0, 1.0],
      zAxis = [1.0, 0.0, 0.0]
    }
  }