Implicit axis-specific calculation (#TRACK CS ABS)

The zero point of the tracking channel is placed at the centre of the dynamic coordinated system.

In other words, if X0 Y0 Z0 are then programmed in the tracking channel, this channel executes a movement towards the centre of the dynamic coordinate system.

Notice

If the slave is not in the master TCP, a position offset is not considered when the master is rotated.

Programing Example

Implicit axis-specific calculation

%TrackCS

N6000 #TRACK CS ON[ ID=2 SET_ZERO FILTER=1000 ]

N7000 #TRACK CS ABS       ;Implicit calculation

;Equivalent explicit calculation by G92

N7010 G92 X=V.G.TRACK_CS.X Y=V.G.TRACK_CS.Y \
          Z=V.G.TRACK_CS.Z A=V.G.TRACK_CS.A \
          B=V.G.TRACK_CS.B C=V.G.TRACK_CS.C

N8000 X0 Y0 Z0 A0 B0 C0   ;Move slave to master centre

…

M30