# Program example with AB tool head configuration

This configuration contains 6 real axes.

N010 ; configuration of AB orientation head N020 V.G.KIN[93].PARAM[0] = 1000000 ; Z offset to the tool fixing point N030 V.G.KIN[93].PARAM[1] = 10000 ; X offset to the tool fixing point N040 V.G.KIN[93].PARAM[2] = 20000 ; Y offset to the tool fixing point

N050 V.G.KIN[93].PARAM[3] = 30000 ; X offset rotation point A axis - rotation point B axis

N060 V.G.KIN[93].PARAM[4] = 31415 ; Y offset rotation point A axis - rotation point B axis

N070 V.G.KIN[93].PARAM[5] = 27181 ; Z offset rotation point A axis - rotation point B axis

N080 V.G.KIN[93].PARAM[6] = -1234 ; X offset zero point - rotation point A axis

N090 V.G.KIN[93].PARAM[7] = 17 ; Y offset zero point - rotation point A axis

N100 V.G.KIN[93].PARAM[8] = 100 ; Z offset zero point - rotation point A axis

N110 V.G.KIN[93].PARAM[11] = 1000 ; angle offset U/V axis

N120 V.G.KIN[93].PARAM[12] = 0 ; 0 = AB head

N130 V.G.KIN[93].PARAM[13] = 0 ; 0 = PCS programming same as head

N140 V.G.KIN[93].PARAM[14] = 0 ; rotation direction AM positive

N150 V.G.KIN[93].PARAM[15] = 0 ; rotation direction BM positive

N160 V.G.KIN[93].PARAM[16] = 200 ; angle offset AM

N170 V.G.KIN[93].PARAM[17] = 100 ; angle offset BM

N200 ; configuration of profile tube

N230 V.G.KIN[93].PARAM[23] = 513 ; Z offset rotary axis U to machine zero point

N240 V.G.KIN[93].PARAM[24] = 1000 ; X offset rotary axis U to machine zero point

N250 V.G.KIN[93].PARAM[25] = -5000 ; Y offset rotary axis U to machine zero point

N260

N270 ; sort axes

N280 #SET AX [X, 1, 0][Y, 2, 1][Z, 3, 2][A, 4, 3][B, 5, 4][U, 6, 5]

N290

N300 ; move to zero

N310 G00 G90 X0 Y0 Z0 A0 B0 U0

N320

N330 ; select kinematic 93

N340 #KIN ID[93]

N350

N360 ; start processing N370 G01 X500 Y0 Z50 A0 B0 F2000 N380 #CYL ORI PROFILE [EDGES = 4 ROUNDING = 10 LENGTH1 = 50] N390 G01 X0 U0 Z30 A0 B0 F2000 N400 G01 G90 U50 F2000

N410 B15

N420 X40

N430 B0 A-15

N440 G01 U-40

N450 B-15 A0

N460 G01 X-40

N470 A15 B0

N480 G01 U40

N490 B15 A0

N500 G01 X0

N510 G01 G90 U20 F2000

N520 #CYL OFF

N530

N540 ; end program

N550 M30