# General approach for machine commissioning

## Basic steps

1. Unless already done: Commission the axis systems and mechanically align the machine's axes according to the machine structure. In particular, pay attention to the correct motion direction of the machine axes so that the machine behaves during conventional operation (2.5D) in the way the user is accustomed to. (e.g. X100 leads to position 100 in WCS).
2. Select a suitable kinematic transformation according to the kinematic structure of the machine [TRAFO].
3. In keeping with the description of the kinematic structure (5-axis arrangement X, Y, Z, C, A), the continuous axis configuration of the machine must be created via the channel-specific list.
4. Measure the kinematic offsets and enter them into the assigned transformation parameters (channel parameter list).
5. Define default kinematics (channel parameter list).
6. After RPF→ selection of the kinematic transformation and programming of the orientation (e.g. rotatory axes A30, B45), the tool tip position must remain fixed in space.

## Additional information

- Activating transformation
- Implicit selection/cancelation of kinematic transformation
- Parameterising the kinematics via the NC program
- Checking the settings in the case of five-axis kinematics