July 2013 6.5 Tilting and swivel axes 717
Specify the machine kinematics as well as the resulting transformation model,
starting from the machine reference point (REF 0, e.g. traverse block with
M91).
For machines with exchangeable components (e.g. adapter spindles, angle
heads), specify partial kinematics as necessary. These can be included
separately, in order to additionally increase the flexibility of the machine
kinematics. Partial kinematics of this type are connected with the
appropriate path in columns SUBFILE1 or SUBFILE2 of the assignment table.
For tools with special tool-carrier kinematics, consider the possibility of
connecting their additional kinematics descriptions via the tool table.
Additional kinematics descriptions for tool carriers are connected in the KEY
column of the assignment table via the TOOLFILE entry.
Position the axes to the machine datum (transformation model with
consideration of MP960).
Now, starting from the tool reference point, define in sequence the shifts or
rotations via the linear, rotary and tilting axes to a center point of a (rotary)
table.
Enter the shifts and rotations in the description table.
As a rule, the control takes changes in the mechanical offset into account,
meaning that these changes do not have to be compensated with a PLC
datum shift.
Definition tables, and therefore collision-monitored objects, are processed
and therefore considered only with software option 40 "DCM – Dynamic
Collision Monitoring" (ID 526 452-01).
File paths should be entered as absolute paths. If only the file name is
entered, the kinematics path from OEM.SYS is valid (e.g. KINEMATIC =
PLC:\Kinemat\Kinelist.TAB).
Another SUBFILE or TOOLFILE cannot be called from a SUBFILE or
TOOLFILE, respectively
File names can be entered with paths and the extension (.TAB) in the
SUBFILE1, SUBFILE2 and FILE columns. If the path is missing, the path
of the assignment table is used. If the file name extension is missing,
*.TAB is amended (internally).
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