# Restrictions

An oscillating motion or independent axis motion must be deselected before selecting a new Cartesian or kinematic transformation.

A positioning axis may only be programmed:

- with Cartesian kinematics and
- only in the 3rd axis (generally A. Z axis) for tools perpendicular to the XY machine base (e.g. A axis to 0° with CA head kinematic).

## Programing Example

Programming independent axes:

N10 #KIN ID[9]

N20 #TRAFO ON

N30 Z[INDP_ASYN G01 G90 POS20 F0.01 SLOPE_TYPE=STEP]

N40 Z[INDP_ASYN G01 G90 POS-20 F0.01 SLOPE_TYPE=STEP]

N50 G01 G90 X100 F0.1

N60 #TRAFO OFF

N100 M30

N10 G00 X0 Y0 Z0 C0

N20 #CS ON[0,0,0,0,0,45]

N30 Z[INDP_ASYN G01 G90 POS20 F0.01 SLOPE_TYPE=STEP]

N40 Z[INDP_ASYN G01 G90 POS-20 F0.01 SLOPE_TYPE=STEP]

N50 G01 G90 X100 F0.1

N60 #CS OFF

N100 M30

N10 #KIN ID[9]

N20 #TRAFO ON

N30 #CS ON[0,0,0,0,0,45]

N40 Z[INDP_ASYN G01 G90 POS20 F0.01 SLOPE_TYPE=STEP]

N50 Z[INDP_ASYN G01 G90 POS-20 F0.01 SLOPE_TYPE=STEP]

N60 G01 G90 X100 F0.1

N70 #CS OFF

N80 #TRAFO OFF

N100 M30

## Programing Example

Programming oscillating axes:

N10 G00 X0 Y0 Z0 C0

N20 #KIN ID[9]

N30 #TRAFO ON

N40 Z[OSC ON 1ST_POS=10 2ND_POS=20 FEED=1.00]

N50 G01 G90 X100 Y100 F0.1

N60 Z[OSC OFF FEED=2.00]

N70 #TRAFO OFF

N100 M30

N10 G00 X0 Y0 Z0 C0

N20 #CS ON[0,0,0,0,0,45]

N30 Z[OSC ON 1ST_POS=10 2ND_POS=20 FEED=1.00]

N40 G01 G90 X100 Y100 F0.1

N50 Z[OSC OFF FEED=2.00]

N60 #CS OFF

N100 M30

N10 G00 X0 Y0 Z0 C0

N20 #KIN ID[9]

N30 #TRAFO ON

N40 #CS ON[0,0,60,0,0,45]

N50 Z[OSC ON 1ST_POS=10 2ND_POS=20 FEED=1.00]

N60 G01 G90 X100 Y100 F0.1

N70 Z[OSC OFF FEED=2.00]

N80 #CS OFF

N90 #TRAFO OFF

N100 M30

## Programing Example

Impermissible nested programming

The following program extract shows an impermissible nesting of CS with kinematic transformation and oscillation:

N10 #KIN ID[9]

N20 #TRAFO ON

N30 Z[OSC ON 1ST_POS=10 2ND_POS=20 FEED=1.00]

N40 G01 G90 X100 Y100 F0.1

N50 #CS ON[0,0,0,0,0,45]

N60 G01 G90 X100 F0.1

N70 #CS OFF

N80 #TRAFO OFF

N90 Z[OSC OFF FEED=2.00]

N100 M30