# Effector coordinate system (#ECS ON/OFF)

## Notice

This function is not included in the scope of the standard license!
The use of this feature requires a license for the "Transformations” extension package.

The effector coordinate system is mainly used to execute a withdrawal strategy after tool breakage, NC reset or program abort when machining takes place with a tool in any alignment. The ECS is determined by reversing the command TOOL ORI CS (section Orienting tool (#TOOL ORI CS)).. Instead of aligning the tool on the machining plane is determined here perpendicular to the tool axis.

Syntax:
#ECS ON | Select ECS
#ECS OFF | Deselect ECS

No other coordinate system (CS) may be active when ECS is activated.

The ECS is then determined from the positions of the alignment axes so that its Z axis is in parallel to the current tool axis. The position of the X and Y axes are then undefined (arbitrary) and must therefore be predefined internally. The origin of the ECS is generally located outside of the tool tip or tool axis, i.e. a collision-free tool withdrawal is only guaranteed by relative path motions along the effector Z axis.

Machining in a slanting hole

## Programing Example

Effector coordinate system (ECS)

N01 #TRAFO ON (Select kinematic)

N05 #CS ON[1.5,0,32,14.5,0,45] (Select a BCS)

N10 #TOOL ORI CS

N15 X0 Y0 Z0

N20 LL TEILEPRG (Subroutine call for contour machining)

...

(Tool breakage, NC reset)

(Withdrawal strategy)

N01 #TRAFO ON (Select kinematic)

N05 #ECS ON (Calculate the ECS)
(depending on position of the orientation)
(axes)

N10 G91 G01 F200

N20 Z62 (Withdrawal motion along the tool or ECS-Z axis)

:

N400 M30