Programming manual.
CNC 8070
19.
KINEMATICS AND COORDINATE TRANSFORMATION
Using RTCP (Rotating Tool Center Point).
·342·
(REF: 1709)
Considerations about the RTCP transformation.
• In order to work with RTCP transformation, the first three axes of the channel (for example
X, Y, Z) must be defined, they must form a trihedron and be linear. These axes may be
GANTRY axes.
• Being RTCP transformation active, it is possible to apply zero offsets (G54-G59, G159)
and preset coordinates (G92).
• Being RTCP transformation active, it is possible to carry out movements in continuous
job, incremental jog and handwheel mode.
• RTCP transformation being active, the CNC only allows home search (G74) on the axes
not involved in RTCP .
• The RTCP transformation cannot be selected while the TLC compensation is active.
• RTCP transformation being active, the CNC does not allow modifying the active
kinematics (#KIN ID).
• RTCP transformation being active, the CNC does not allow modifying the software limits
(G198/G199).
Recommended programming order.
When working with inclined planes and RTCP transformation, it is recommended to follow
this programming order (sequence). RTCP should be turned on first because it allows
orienting the tool without modifying the tool tip position.
#RTCP ON
(Turn RTCP on)
#CS ON
(Activate the inclined plane)
#TOOL ORI
(Position the tool perpendicular to the plane)
G_ X_ Y_ Z_
(Machine on the inclined plane)
·
·
·
#CS OFF
(Cancel the inclined plane)
#RTCP OFF
(Turn RTCP off)
M30
(End of part-program)
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