Programming and configuration of 5-axis kinematics
Evaluation of point-vector programming after selecting the transformation is enabled by the NC command #ORI MODE[..]. In conventional point-vector representation, the VECTOR_2DOF (2 Degrees Of Freedom) mode is used. It remains valid until program end (M30) or until another programmed change occurs.
The NC command has the following syntax:
#ORI MODE [ VECTOR_2DOF ] |
VECTOR_2DOF/ | A, B and C are components of the direction vector. The address letters A, B, C must always be used; they have no reference to configured axis names in the channel list. The vector components need not be specified in standardised form. |
#ORI MODE [VECTOR_2DOF] causes the preselection of orientation programming. Only when the transformation is active (#TRAFO ON) are point-vector representations detected and evaluated.
The following NC commands revert to conventional orientation programming:
#ORI MODE [ ANGLE ] |
ANGLE | Angle values via configured axis names (default) |
Special features relating to active coordinate systems (CS):
- With 5-axis RTCP transformations (incomplete) and an active CS, orientation is always represented independent of P-CHAN-00247.
- With complete 5-axis transformations and an active CS, orientation is represented dependent on P-CHAN-00247.
- Vector programming is also permitted with tube machining. Virtual axis programming may not be active (see [FCT-M5, Kin-ID 90 – HD14 = 0]).
Alternatively, point-vector programming can be preconfigured with P-CHAN-00177. With ori.mode the user defines whether the meaning of values programmed with A, B, C are read as normal coordinates or angle values with an active kinematic transformation or whether they are interpreted as corresponding vector components.
Alternatively, the following identifiers must be configured:
ori.mode ANGLE Angle values by configured axis names (default)
ori.mode VECTOR_2DOF Vector components by A, B, C
If ori.mode is unassigned, the default setting is active for orientation programming (orientation specified by rotation angle).
Programing Example
Switch over orientation programming to point-vector representation
%example_1
:
#KIN ID [9]
:
#ORI MODE [VECTOR_2DOF]
#TRAFO ON
G01 F1000
X79.993 Y57.197 Z-39.993 A0.67520 B0.29702 C-0.67520
X79.973 Y57.392 Z-39.973 A0.66945 B0.32198 C-0.66945
X79.941 Y57.586 Z-39.941 A0.66316 B0.34705 C-0.66316
:
X79.255 Y58.978 Z-39.255 A0.58988 B0.55144 C-0.58988
X79.121 Y59.121 Z-39.121 A0.57735 B0.57735 C-0.57735
X78.903 Y59.319 Z-38.903 A0.55691 B0.61620 C-0.55691
X78.666 Y59.493 Z-38.666 A0.53439 B0.65487 C-0.53439
X78.414 Y59.643 Z-38.414 A0.50964 B0.69321 C-0.50964
X75.000 Z-35. 000 A0.00000 B1.00000 C0.00000
:
#TRAFO OFF
M30/
Programing Example
Toggle between point-vector and point-angle representation
%example_2
:
#KIN ID [9]
:
#ORI MODE [VECTOR_2DOF]
#TRAFO ON
G01 F1000
X79.993 Y57.197 Z-39.993 A0.67520 B0.29702 C-0.67520
X79.973 Y57.392 Z-39.973 A0.66945 B0.32198 C-0.66945
X79.941 Y57.586 Z-39.941 A0.66316 B0.34705 C-0.66316
...
X79.255 Y58.978 Z-39.255 A0.58988 B0.55144 C-0.58988
X79.121 Y59.121 Z-39.121 A0.57735 B0.57735 C-0.57735
X78.903 Y59.319 Z-38.903 A0.55691 B0.61620 C-0.55691
X78.666 Y59.493 Z-38.666 A0.53439 B0.65487 C-0.53439
X78.414 Y59.643 Z-38.414 A0.50964 B0.69321 C-0.50964
X75.000 Z-35.000 A0.00000 B1.00000 C0.00000
:
#TRAFO OFF
:
#ORI MODE [ANGLE]
#TRAFO ON
G01 F1000
X10 Y10 Z10 C90 A15
X20 Y10 Z10 C90 A30
:
#TRAFO OFF
M30/