HEIDENHAIN iTNC 530 HSCI - Integration of Cmos in the Description Table

1432 HEIDENHAIN Technical Manual iTNC 530 HSCI
Integration of
CMOs in the
description table
In order to use collision monitoring, the kinematics of the CMOs must be
entered in the description table, see page 714.
The starting point for integrating the collision objects is always the tool
reference point (e.g. spindle point) and the coordinate system (XYZ) valid for
this point. It is then shifted via translations (e.g. X, Y or Z axes) and rotated or
tilted via rotations (e.g. A, B or C axes). A collision object (CMO: cuboid,
cylinder or plane) is inserted in the description table, taking the momentarily
valid coordinate system into account.
The location at which the CMO is placed in the description table is important
for the resulting machine and monitoring models. Please see the example
below and the associated description table on the next page: The swivel head
is defined (via SUBFILE) in line 1, and the B axis (MachAxis B) is defined in line
2. This means that when the B axis is traversed, all subsequent CMOs and of
course the subsequent machine axes (including translations and
transformations) will move in the B direction relative to previous CMOs.
In the lower example (machine figure), the portal (no. 3 in the figure) and all
subsequent CMOs (no. 6 in the figure) rotate in the B axis direction relative to
the double swivel head. The machine coordinate system shown in the figure
below (illustrating the traverse directions) is valid.
In the description table, after the portal in line 3, the machine axes X and Y,
followed by a machine floor (CMO_FloorSection) are defined. This means that
when the X or Y axis is traversed, the machine floor (CMO_FloorSection)
moves in X or Y direction relative to the previously defined portal
(CMO_Portal). The coordinate system shown is again valid.