Machine kinematics (KIN ID)

Notice

notice

It is not included in the scope of the standard license. The use of this feature requires a license for the "Transformations” extension package.

The following statement is used to define the machine/tool head kinematics:

#KIN ID [ [<expr>] ] ] Definition of machine/tool head kinematics                                              (modal)

<expr>

Kinematic ID The purpose of the kinematic ID is to identify the machine or tool head-specific kinematic types implemented in the controller. Their default setting after controller start-up is parameterised in P-CHAN-00032.

The default kinematic ID is set by programming #KIN ID without parameters.

In addition, a kinematic change can be executed automatically when the tool is changed by assigning the "kin_id” element in the tool data list.

An unknown kinematic ID causes the output of an error message and a decoding stop when RTCP, TLC or TOOL ORI CS is selected.

Attention

attention

It is not permitted to change kinematics with #KIN ID... when RTCP or TLC is active.

Programing Example

prg_example

Machine kinematics

N10 #TOOL ORI CS     (Align tool, default kinematic)
                     (valid from P-CHAN-00032.)

N20 T1 D1            (Select tool)

N30 #TRAFO ON        (Select RTCP, default kinematic)
                     (valid from P-CHAN-00032)

.

.

N40 #TRAFO ON        (Deselect RTCP)

N50 #KIN ID[2]       (Select kinematic which is saved in the)
                     (internal library under)
                     (ID '2')

N60 #TRAFO ON        (Select RTCP, kinematic 2)

.

.

N70 #TRAFO ON        (Deselect RTCP)

N80 M30