Introduction
Listed below are kinematic transformations with 3, 4,5 or 6 axes that are required for machines with non-cartesian axis arrangement or with rotary axes for setting the orientation if programming shall be performed in the workpiece coordinate system. The result in this case will usually be non-linear equations that reflect the correlation between workpiece coordinates and machine coordinates.
Workpiece axes are axes which can be located in kinematic sequence in the workpiece. Tool axes are axes which can be located in kinematic sequence in the tool.
The two different types of of transformation are:
- RTCP transformation: In this case the positions are programed in workpiece coordinate system, the commands for adjustment of tool orientation are done via programming of the rotary machine axes (e. g. B and C depending on machine type). The automatic aligning of tool orientation to rotated coordinate systems is available by specific functions.
- example of NC program line: N10 X100 Y20 Z30 B0 C0
- Complete transformation: In this case the position and orientation of tool is programmed with vector coordinates with 6 elements independent of machine type. (*)
- example of NC program line: N10 X100 Y20 Z30 A0 B0 C1
(*) Depending on degree of freedom of kinematic only the position can be programmed with 3 coordinates (e. g. Tripod).
The ID that is required for using a specific kinematic feature results from the specified kinematic type as follows:
KIN_TYP_1 1
KIN_TYP_2 2
.....etc.
The offset values HDi corresponds to the kinematic specific offset values in the channel parameters (kinematik[ID].wz_kopf_versatz[i-1] to version 2.6.0 respectively kinematik[ID]. param[i-1] from version 2.6.3). Alternatively the parameter settings of this values can be done in the tool parameters (P-TOOL-00009). The unit of offset parameters is 0.1μm. axis. With active kinematic transformation axis specific tool offsets in ax_versatz[<axis index>] are only taken into consideration if axes are not influenced by transformation function. For RTCP transformation type these axes are all axes above the first three axes with index 0 to 2.
The necessary kinematic specific axis configuration setting must be done in the channel parameters. It is essential to use the correct axis index sequence for the selected transformation.