July 2013 6.5 Tilting and swivel axes 715
Kinematics tables In order to describe the kinematics of a machine, various tables are necessary
depending on the application and the software option (option 40 "DCM –
Dynamic Collision Monitoring"). Depending on the type of content, these
tables are structured according to the following hierarchy when using the new
kinematics description.
Table overview Brief description
Assignment table List of selectable kinematics, is
called in OEM.SYS
Description table 1
(FILE)
Contains the transformation chain of
the kinematics description, is
referenced in the assignment table
Description table 2
(FILE)
Tool-carrier table
(TOOLFILE)
Contains the kinematics description
of a specific tool carrier, is called in
the description table and referenced
via the tool table
Partial description table
(SUBFILE1, SUBFILE2)
Contains the kinematics description
of an exchangeable machine
component that is included in the
kinematics (e.g. swivel head), is
called in the description table and
referenced in the assignment table
Definition table for
collision-monitored
objects
(CMO)
Contains descriptions of objects
located within the machine work
envelope, and for which the
possibility of collision with other
machine objects cannot be ruled out.
CMO ("Collision Monitored Object")
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