Programming manual.
CNC 8070
19.
KINEMATICS AND COORDINATE TRANSFORMATION
Summary of kinematics related variables.
·358·
(REF: 1709)
In order that the tool is perpendicular to the defined plane, the positioning must be performed
using machine coordinates, since the CNC provides the solution in machine coordinates,
or by using the instruction #TOOL ORI and the movement of an axis.
Variables related to the CSROT option (tool orientation in the part coordinate system).
Option 1. Movement in machine dimensions with the given solution.
#MCS ON
G01B[V.G.TOOLORIF1] C[V.G.TOOLORIS1] F1720
#MCS OFF
Option 2. Orientate the work plane so that it is perpendicular to the tool for the next
movement after #TOOL ORI.
#TOOL ORI
G01 X0 Y0 Z40
Variables. R/W Meaning.
V.G.CSROTST R Status of the #CSROT function.
V.G.CSROTF1[1] R Position (machine coordinates) calculated for the first rotary axis of
the kinematics at the beginning of the block, for solution 1 of the
#CSROT mode.
V.G.CSROTF1[2] R Position (machine coordinates) calculated for the first rotary axis of
the kinematics at the end of the block, for solution 1 of the #CSROT
mode.
V.G.CSROTS1[1] R Position (machine coordinates) calculated for the second rotary axis
of the kinematics at the beginning of the block, for solution 1 of the
#CSROT mode.
V.G.CSROTS1[2] R Position (machine coordinates) calculated for the second rotary axis
of the kinematics at the end of the block, for solution 1 of the #CSROT
mode.
V.G.CSROTT1[1] R Position (machine coordinates) calculated for the third rotary axis of
the kinematics at the beginning of the block, for solution 1 of the
#CSROT mode.
V.G.CSROTT1[2] R Position (machine coordinates) calculated for the third rotary axis of
the kinematics at the end of the block, for solution 1 of the #CSROT
mode.
V.G.CSROTO1[1] R Position (machine coordinates) calculated for the fourth rotary axis
of the kinematics at the beginning of the block, for solution 1 of the
#CSROT mode.
V.G.CSROTO1[2] R Position (machine coordinates) calculated for the fourth rotary axis
of the kinematics at the end of the block, for solution 1 of the #CSROT
mode.
V.G.CSROTF2[1] R Position (machine coordinates) calculated for the first rotary axis of
the kinematics at the beginning of the block, for solution 2 of the
#CSROT mode.
V.G.CSROTF2[2] R Position (machine coordinates) calculated for the first rotary axis of
the kinematics at the end of the block, for solution 2 of the #CSROT
mode.
V.G.CSROTS2[1] R Position (machine coordinates) calculated for the second rotary axis
of the kinematics at the beginning of the block, for solution 2 of the
#CSROT mode.
V.G.CSROTS2[2] R Position (machine coordinates) calculated for the second rotary axis
of the kinematics at the end of the block, for solution 2 of the #CSROT
mode.
V.G.CSROTT2[1] R Position (machine coordinates) calculated for the third rotary axis of
the kinematics at the beginning of the block, for solution 2 of the
#CSROT mode.
V.G.CSROTT2[2] R Position (machine coordinates) calculated for the third rotary axis of
the kinematics at the end of the block, for solution 2 of the #CSROT
mode.
V.G.CSROTO2[1] R Position (machine coordinates) calculated for the fourth rotary axis
of the kinematics at the beginning of the block, for solution 2 of the
#CSROT mode.
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