Constraints and limitations
The following constraints apply to the use of coupling kinematics
- A maximum of 3 kinematics can be part of a coupling kinematic.
- A maximum of 3 kinematics can be configured in each group.
- A maximum of 2 groups can be configured.
- The programmed TCP is always assigned to the first group (Index 0).
- Only one programmed TCP can be configured.
- In manual mode (G200), TCP axes and a partial kinematic may not be moved simultaneously if they have the same degree of freedom (e.g. motion in X direction). Otherwise, the warning ID 51065 is output.
Functional constraints of the CNC
The following CNC functions cannot be used when a coupling kinematic is active. They are suppressed and a related error message is output:
- Manual mode with parallel interpolation (G201) (ID 22092)
- Multistep transformations (ID 22093)
- 2-path programming (ID 22094)
- Homing with TCP axes (ID 22091)
- PTP contouring mode, use of-#CONTOUR MODE[PTP ..] (ID 22122)