ID 21321

Kinematic transformation must be selected for the effector coordinate system.

Description

For non-Cartesian machine kinematics, such as hexapod kinematics, selecting the effector coordinate system (#ECS ON) detects that the kinematic transformation is not enabled.

Example:

Wrong:
N10 #KIN ID[26]
N20 #TRAFO ON
N30 G01 G90 X10 Y10 Z100 A15 B15 C0 F5000
N40 G01 G90 X-10 Y-10 Z100 A15 B15 C0
N50 #TRAFO OFF
N60 #ECS ON
N70 G01 G90 X25 Y25 Z0 A-15 B-15 C0
:
N1000 M30
Correct:
N10 #KIN ID[26]
N20 #TRAFO ON
N30 G01 G90 X10 Y10 Z100 A15 B15 C0 F5000
N40 G01 G90 X-10 Y-10 Z100 A15 B15 C0
N50 #ECS ON
N70 G01 G90 X25 Y25 Z0 A-15 B-15 C0
N80 #TRAFO OFF
:
N1000 M30

Response

Class

2

Abort NC program processing.

Solution

Class

3

Before activating the effector coordinate system (#ECS ON) with non Cartesian machine kinematics, the kinematic transformation must be active (#TRAFO ON).

The channel parameters P-CHAN-00031, P-CHAN-00050 have no influence on the #ECS function for these kinematic structures and specification of the tool orientation via three spatial rotation angles.

Error type

1, Error message from NC program.