July 2013 6.5 Tilting and swivel axes 729
3-D basic rotation Append 3-D basic rotation to kinematics
The iTNC enables you to append a 3-D basic rotation to the end of the
kinematics description, e.g. for chucking equipment.
When a rotation is appended to the kinematics, the coordinate system of the
machine table is rotated with respect to the coordinate system of the machine
axes. The preset vector from the preset table is always interpreted as a vector
of the coordinate system of the machine table. As a result, the rotations must
first be appended to the kinematics, and then the reference point must be
determined. The working plane must be correspondingly tilted for the
determination of the reference point.
The following entries must be appended to the end of the kinematics
description (e.g. after the description of the rotary table):
Trans C ...
Trans B ...
Trans A ...
Then you can use the WRITE TO KINEMATIC function to enter the coordinates
of the rotation in the kinematics table. The rotation becomes effective when
the PLANE function is activated.
Use Cycle 431 "Measure plane" to determine the spatial angles for the
rotation. Then the coordinates of the rotation must be entered in the
kinematics description in the sequence described above. The coordinates of
the rotation only correspond to the spatial angles of the kinematics description
if they have been entered in the described sequence. Please also note that the
first two measurement results of Cycle 431 define the orientation of the
principal axis (principal axis X if tool axis Z). It may be necessary to align the
workpiece in the plane before determining the rotation with Cycle 431. To do
this, use Touch Probe Cycle 403.
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