Position display via CNC objects

The physical TCP position of the electrode can be read in all defined Cartesian coordinate systems by CNC objects in the 1st channel.

The parameter P-CHAN-00145 defines how to include step 1 and 2 kinematic transformations in the position display data.

The default value of P-CHAN-00145 is 0. This means that kinematic transformation steps are only included if they are activated.

If this parameter is initialised with 2, the calculation is already carried out when a transformation step is defined in the channel parameters.

The right-hand side of the figure below shows the calculation of position display data based on axis positions in the ACS for the various parameterisation options in ascending order.

Overview of display options
Overview of display options

Based on the above overview, an example could show how the #CS command defines 3 Cartesian coordinate systems. The command can be used to assign names to them, e.g. ACS, APP and PCS.

The names can be read by the following CNC objects:

The relevant positions of each coordinate system are contained in the following CNC objects:

For the 2nd coordinate system:

and for the 3rd coordinate system: