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):

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

prg_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

prg_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/