Using kinematics in die sinking
It is only possible to use kinematics in the die sinking configuration under the following two conditions:
- The forward and backward transformation of the kinematic used must be unique. If a TcCOM transformation is used, the Boolean value f_UniqueTrafo must be set since a TcCOM transformation is normally not interpreted as unique.
- Motions where kinematics have an influence on axis motions may only be programmed for erosion on the path (in the following example, motion of the C axis). The influence In the down channel geometry cannot be considered due to the 2D superposition of the down/escape channels.
In order to use kinematics, the kinematics in the down channel must be selected before activation of the escape channel. The identical kinematics must be activated in the escape channel before the geometry. It may not be deselected in the escape channel before program end.
Example

Offset of the electrode centre point in relation to the C axis
In subsequent NC programs for the down and escape channels, the kinematics in the figure are defined as TcCOM transformation ID 503 with the radial offset in parameter 4. With this kinematic, a compensation motion must be executed when the C axis is moved so that the electrode centre point remains at the same position.

Programing Example

Down channel
%Test_kinematic
N0550 #KIN ID[503]
N0560 V.G.KIN[503].PARAM[4] = 100000 ;radial offset
N0580 #TRAFO ON
N0590 G00 Y-7.07 X0 Z17.07 C10 ;positioning
; ---------------------------------------------
N0610 #CS ON [EOP] [0, 0, 0, 0, 0, 0] ;define CS for erosion on the path
N0620 L DS-ActivateEscape.sub
N0630 LL EDMOn
N0640 G01 Z7.07 C20 F30 ;path geometry
N0645 G01 Y0 Z0 C0
N0650 #CHANNEL INTERFACE OFF[ESCAPE WAIT]
N0660 #CS ON [PCS] [0, 0, 0, 0, 0, 0] ;define CS for orbiting
N0670 L DS-ActivatePlanetary.sub
;…
M30
Programing Example

Escape channel
%Test_kinematic_Escape
N040 X[SET_POSITION POS=@PL1] Y[SET_POSITION POS=@PL2] Z[SET_POSITION POS=@PL3]\
A[SET_POSITION POS=@PL10] B[SET_POSITION POS=@PL11] C[SET_POSITION POS=@PL12]
N050 #SET SLOPE PROFIL [0]
N070 #KIN ID[503]
N080 V.G.KIN[503].PARAM[4] = 100000 ;radial offset
N090 #TRAFO ON
N095 #ESCAPE PATH DEF BEGIN
N100 #CS ON [APP] [@PL4,@PL5,@PL6,@PL7,@PL8,@PL9]
N120 #ESCAPE PATH BACKWARD STOP
N130 G01 Z7.07 C20 F30 ;path geometry
N140 G01 Y0 Z0 C0
N150 #CS DEL ALL
N170 #ESCAPE PATH DEF END
N180 #TRACK CHAN ON [ESCAPE="CH-Escape" START_POS="CH-Sinking"\
EXTEND_PARAM="CH-Planetary"] ;activate escape channel
N190 #CHANNEL INTERFACE ON [DYN_CS]
N200 #CHANNEL SET [EXT_FEEDRATE_RESOLUTION=nm/s \
EXT_FEEDRATE_WAIT=1]
N210 #SIGNAL SYN [ID="S-EscapeReady" CH="CH-DownShape"]
N220 M30