Mixed programming
Programming TCP coordinates and coordinates of partial kinematics in the same NC command.
Programming Example
Linear and rotary movement of the TCP and fixed programming of the linear unit.
N020 #TRAFO ON
N030 G00 G90 X_TCP=1000 Y_TCP=500 Z_TCP=50 C_TCP=10 X_LIN=800 Y_LIN=0
N040 #TRAFO OFF
The movement is distributed as follows:
| X | Y | Z | A | B | C |
Linear unit | 800 | 0 |
|
|
|
|
Robot | 200 | 500 | 50 | 0 | 0 | 10 |
TCP | 1000 | 500 | 50 | 0 | 0 | 10 |
The robot must travel the difference between the TCP position and the position of the linear axes in X and Y directions.
Programming Example
Circular interpolation in the TCP and fixed programming of individual coordinates
N020 #TRAFO ON
; Approach start position of linear unit and robot
N030 G00 G90 X_LIN=0 Y_LIN=0
N040 G00 G90 X_ROB=500 Y_ROB=0 Z_ROB=1500
; Circular interpolation
N050 G02 G91 F5000 X_TCP=0 Y_TCP=-500 R250 X_LIN=0 Y_ROB=0
N060 #TRAFO OFF
The movement is distributed as follows:
| X | Y | Z | A | B | C |
Linear unit | 0 | -500 |
|
|
|
|
Robot | 500 | 0 | 1500 | 0 | 0 | 10 |
TCP | 500 | -500 | 1500 | 0 | 0 | 10 |
In block N050, the Y linear axis assumes the movement in the Y direction. Simultaneously, the robot executes the movement in the X direction. The programmed partial kinematics then travel only linear movements.