Implementation of CB head kinematic
Let's assume that the existing kinematic with ID 9, with a CA head kinematic, is to be converted to a CB head kinematic.
Configuration of a CB machine
# CB machine: XYZCB
#
kinematik[91].rtcp 1
# Programming mode CB->19
kinematik[91].programming_mode 19
kinematik[91].number_of_axes 5
#WZ Zero orientation of machine axes
kinematik[91].zero_orientation[0] 0
kinematik[91].zero_orientation[1] 0
kinematik[91].zero_orientation[2] 1
#WZ Zero position of machine axes
kinematik[91].zero_position[0] 0
kinematik[91].zero_position[1] 0
kinematik[91].zero_position[2] 0
#
# X axis type, position (Index 0)
kinematik[91].axis[0].type 1 #lin
kinematik[91].axis[0].orientation[0] 1
kinematik[91].axis[0].orientation[1] 0
kinematik[91].axis[0].orientation[2] 0
#
# Y axis type, position (Index 1)
kinematik[91].axis[1].type 1 #lin
kinematik[91].axis[1].orientation[0] 0
kinematik[91].axis[1].orientation[1] 1
kinematik[91].axis[1].orientation[2] 0
#
# Z axis type, position (Index 2)
kinematik[91].axis[2].type 1 #lin
kinematik[91].axis[2].orientation[0] 0
kinematik[91].axis[2].orientation[1] 0
kinematik[91].axis[2].orientation[2] 1
#
# C axis type, position (Index 3)
kinematik[91].axis[3].type 2 #rot
kinematik[91].axis[3].orientation[0] 0
kinematik[91].axis[3].orientation[1] 0
kinematik[91].axis[3].orientation[2] 1
#
# B axis type, position (Index 4)
kinematik[91].axis[4].type 2 #rot
kinematik[91].axis[4].orientation[0] 0
kinematik[91].axis[4].orientation[1] 1
kinematik[91].axis[4].orientation[2] 0
kinematik[91].axis[4].point[0] 0
kinematik[91].axis[4].point[1] 0
kinematik[91].axis[4].point[2] 1000000
#
# Sequence of kinematic chain: YXZCB
kinematik[91].chain[0] 0 #X axis
kinematik[91].chain[1] 1 # Y axis
kinematik[91].chain[2] 2 # Z axis
kinematik[91].chain[3] 3 # C axis
kinematik[91].chain[4] 4 # B axis
#
The machine parameters can also be defined in the NC program similar to the example of the CA machine.