720 HEIDENHAIN Technical Manual iTNC 530 HSCI
Example of an assignment table:
With MP7506 you can make an advance selection of which entry in the
kinematics table is to become active when the control is booted. Selection is
made by entering the line number of the desired kinematics in KINELIST.TAB.
MP7506 Selection of kinematics at booting of the control
Input: 0 to 999
–1: Function not active
Description table
The description table contains the actual definition of the kinematics. The
transformations are described here, subkinematics (SUBFILE1, SUBFILE2,
TOOLFILE) are connected if necessary, and if software option 40 (DCM -
"Dynamic Collision Monitoring") is available, objects for collision monitoring are
included. Any number of description tables can be used.
NR MP7500 FILE MPFILE SUBFILE1 DOC
0 1 PLC:\KINEMAT1.TAB Standard
1 7 PLC:\KINEMAT2.TAB PLC:\MP\KINEMAT2.MP B Head
2 3 PLC:\KINEMAT3.TAB PLC:\MP\KINEMAT3.MP PLC:\DoubleHeadTyp1 Double Swivel H1
3 %11 PLC:\KINEMAT4.TAB PLC:\MP\KINEMAT4.MP PLC:\DoubleHeadTyp2 Double Swivel H2
[END]
Please note that with this feature, the same kinematics are always active
whenever the control is booted. If you change the actual kinematics of the
machine before booting, this is not taken into account. The kinematics set
via MP7506 are still active after booting even after this change.
The number of kinematics entries in a description table (Trans,
MachAxis) is limited to 50. This also includes the entries in TOOLFILE,
SUBFILE1 and SUBFILE2. However, references to collision bodies (CMO)
do not count as kinematics entries.
For a correct description of the kinematics, the machine axes X, Y and Z
must form a Cartesian coordinate system.
HEIDENHAIN offers the KinematicsDesign software tool.
KinematicsDesign is a program for interactive creation of control
kinematics, fixture templates, completed fixtures and tool carrier
kinematics.
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