3D distance control

The license for the “Cutting” option is required in order to use 3D distance control.

Release Note

release_note

This function is available as of V3.1.3080.12 or V3.1.3107.44

Notice

notice

This function is an additional option requiring a license.

If the NC command #DIST CTRL is programmed for 3D distance control without a license, the NC program is aborted and Error ID 21837 is output.

In principle, kinematic transformation with the appropriate licence is assumed for tool orientation.

As of V3.01.3081.7, V3.1.3115.0 and V4.19.0.0, a TcCOM transformation can also be used with orientation.

Notice

notice

Transformations are an additional option requiring a license.
3D distance control is compatible with the following kinematic types.

Kinematic types:

  • Types 6-10 and 25
  • 6-axis articulated robot (type 45)
  • Palletising robot (types 96 and 213)
  • Universal Kinematic (type 91)
  • Couple kinematic ( type 210)

Other kinematics can be link3d by TcCOM transformations.

Notice

notice

The number of simultaneous 3D distance controls permitted in an NC channel is limited to one