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.

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:

• mc_cs_0_name_r
• mc_cs_1_name_r
• mc_cs_2_name_r

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

• mc_cs_0_pos_0_r: The position of the first axis (index 0) in the CS with index 0
• mc_cs_0_pos_1_r
• mc_cs_0_pos_2_r
• mc_cs_0_pos_3_r
• mc_cs_0_pos_4_r
• mc_cs_0_pos_5_r

For the 2nd coordinate system:

• mc_cs_1_pos_0_r to mc_cs_1_pos_5_r.

and for the 3rd coordinate system:

• mc_cs_2_pos_0_r to mc_cs_2_pos_5_r.